Merge pull request #139 from Federico-PizarroBejarano/minor_updates

Many minor updates

.pre-commit-config.yaml

@@ -15,6 +15,7 @@ repos:
     -   id: check-yaml
     -   id: check-toml
     -   id: check-added-large-files
+        args: ['--maxkb=10000']
     -   id: check-docstring-first
     -   id: check-executables-have-shebangs
     -   id: check-shebang-scripts-are-executable

examples/mpsc/train_rl_model.sh

@@ -13,7 +13,7 @@ ALGO='ppo'
 rm -r -f ./unsafe_rl_temp_data/
 
 # Train the unsafe controller/agent.
-python3 ../../safe_control_gym/experiments/execute_rl_controller.py \
+python3 ../../safe_control_gym/experiments/train_rl_controller.py \
     --algo ${ALGO} \
     --task ${SYS} \
     --overrides \
@@ -24,7 +24,7 @@ python3 ../../safe_control_gym/experiments/execute_rl_controller.py \
     --seed 2
 
 # Move the newly trained unsafe model.
-mv ./unsafe_rl_temp_data/seed2_*/model_latest.pt ./models/${ALGO}_model_${SYS}_${TASK}.pt
+mv ./unsafe_rl_temp_data/seed2_*/model_best.pt ./models/${ALGO}_model_${SYS}_${TASK}.pt
 
 # Removed the temporary data used to train the new unsafe model.
 rm -r -f ./unsafe_rl_temp_data/

examples/rl/config_overrides/cartpole/cartpole_stab.yaml

@@ -7,26 +7,31 @@ task_config:
   normalized_rl_action_space: True
 
   # state initialization
+  init_state:
+    init_x: 0.1
+    init_x_dot: -1.5
+    init_theta: -0.155
+    init_theta_dot: 0.75
   randomized_init: True
   randomized_inertial_prop: False
 
   init_state_randomization_info:
     init_x:
       distrib: 'uniform'
-      low: -1
-      high: 1
+      low: -2
+      high: 2
     init_x_dot:
       distrib: 'uniform'
-      low: -0.1
-      high: 0.1
+      low: -2
+      high: 2
     init_theta:
       distrib: 'uniform'
       low: -0.16
       high: 0.16
     init_theta_dot:
       distrib: 'uniform'
-      low: -0.1
-      high: 0.1
+      low: -1
+      high: 1
 
   task: stabilization
   task_info:
@@ -40,7 +45,7 @@ task_config:
 
   episode_len_sec: 10
   cost: rl_reward
-  obs_goal_horizon: 1
+  obs_goal_horizon: 0
 
   # RL Reward
   rew_state_weight: [1, 1, 1, 1]

examples/rl/config_overrides/cartpole/cartpole_track.yaml

@@ -7,26 +7,31 @@ task_config:
   normalized_rl_action_space: True
 
   # state initialization
+  init_state:
+    init_x: 0
+    init_x_dot: 0
+    init_theta: 0
+    init_theta_dot: 0
   randomized_init: True
   randomized_inertial_prop: False
 
   init_state_randomization_info:
     init_x:
       distrib: 'uniform'
-      low: -1
-      high: 1
+      low: -2
+      high: 2
     init_x_dot:
       distrib: 'uniform'
-      low: -0.1
-      high: 0.1
+      low: -2
+      high: 2
     init_theta:
       distrib: 'uniform'
       low: -0.16
       high: 0.16
     init_theta_dot:
       distrib: 'uniform'
-      low: -0.1
-      high: 0.1
+      low: -1
+      high: 1
 
   task: traj_tracking
   task_info:

examples/rl/config_overrides/cartpole/ppo_cartpole.yaml

@@ -1,40 +1,41 @@
 algo: ppo
 algo_config:
   # model args
-  hidden_dim: 64
+  hidden_dim: 32
+  activation: 'leaky_relu'
   norm_obs: False
   norm_reward: False
   clip_obs: 10.0
   clip_reward: 10.0
 
   # loss args
-  gamma: 0.99
-  use_gae: True
-  gae_lambda: 0.95
+  gamma: 0.98
+  use_gae: False
+  gae_lambda: 0.8
   use_clipped_value: False
-  clip_param: 0.2
-  target_kl: 0.01
-  entropy_coef: 0.01
+  clip_param: 0.1
+  target_kl: 1.587713889686473e-07
+  entropy_coef: 0.00010753631441212628
 
   # optim args
-  opt_epochs: 10
-  mini_batch_size: 64
-  actor_lr: 0.0003
-  critic_lr: 0.001
+  opt_epochs: 5
+  mini_batch_size: 128
+  actor_lr: 0.0007948148615930024
+  critic_lr: 0.007497368468753617
   max_grad_norm: 0.5
 
   # runner args
-  max_env_steps: 100000
+  max_env_steps: 300000
   num_workers: 1
   rollout_batch_size: 4
-  rollout_steps: 100
+  rollout_steps: 150
   deque_size: 10
   eval_batch_size: 10
 
   # misc
-  log_interval: 1000
-  save_interval: 1000
+  log_interval: 6000
+  save_interval: 0
   num_checkpoints: 0
-  eval_interval: 1000
+  eval_interval: 6000
   eval_save_best: True
   tensorboard: False

examples/rl/config_overrides/cartpole/sac_cartpole.yaml

@@ -1,29 +1,36 @@
 algo: sac
 algo_config:
   # model args
-  hidden_dim: 64
+  hidden_dim: 256
+  activation: 'relu'
+
+  # loss args
+  gamma: 0.98
+  tau: 0.12145208815621376
+  init_temperature: 0.2
   use_entropy_tuning: False
+  target_entropy: null
 
   # optim args
   train_interval: 100
-  train_batch_size: 64
-  actor_lr: 0.001
-  critic_lr: 0.001
+  train_batch_size: 512
+  actor_lr: 0.00045196308120485273
+  critic_lr: 0.022547326782152065
   entropy_lr: 0.001
 
   # runner args
-  max_env_steps: 100000
-  warm_up_steps: 1000
+  max_env_steps: 150000
+  warm_up_steps: 100
   rollout_batch_size: 4
   num_workers: 1
   max_buffer_size: 1000000
   deque_size: 10
   eval_batch_size: 10
 
   # misc
-  log_interval: 1000
-  save_interval: 1000
-  num_checkpoints: 100
-  eval_interval: 1000
+  log_interval: 3000
+  save_interval: 0
+  num_checkpoints: 0
+  eval_interval: 3000
   eval_save_best: True
-  tensorboard: True
+  tensorboard: False

examples/rl/config_overrides/cartpole/safe_explorer_ppo_cartpole.yaml

@@ -0,0 +1,47 @@
+algo: safe_explorer_ppo
+algo_config:
+  # model args
+  hidden_dim: 32
+  activation: 'leaky_relu'
+  norm_obs: False
+  norm_reward: False
+  clip_obs: 10.0
+  clip_reward: 10.0
+
+  # Safety layer args
+  pretraining: False
+  pretrained: null
+  constraint_slack: [0.01, 0.01, 0.01, 0.05, 0.01, 0.01, 0.01, 0.05]
+  constraint_hidden_dim: 100
+
+  # loss args
+  gamma: 0.98
+  use_gae: False
+  gae_lambda: 0.8
+  use_clipped_value: False
+  clip_param: 0.1
+  target_kl: 1.587713889686473e-07
+  entropy_coef: 0.00010753631441212628
+
+  # optim args
+  opt_epochs: 5
+  mini_batch_size: 128
+  actor_lr: 0.0007948148615930024
+  critic_lr: 0.007497368468753617
+  max_grad_norm: 0.5
+
+  # runner args
+  max_env_steps: 300000
+  num_workers: 1
+  rollout_batch_size: 4
+  rollout_steps: 150
+  deque_size: 10
+  eval_batch_size: 10
+
+  # misc
+  log_interval: 6000
+  save_interval: 0
+  num_checkpoints: 0
+  eval_interval: 6000
+  eval_save_best: True
+  tensorboard: False

examples/rl/config_overrides/cartpole/safe_explorer_ppo_cartpole_pretrain.yaml

@@ -0,0 +1,54 @@
+algo: safe_explorer_ppo
+algo_config:
+  # model args
+  hidden_dim: 32
+  activation: 'leaky_relu'
+  norm_obs: False
+  norm_reward: False
+  clip_obs: 10.0
+  clip_reward: 10.0
+
+  # Safety layer args
+  pretraining: True
+  pretrained: null
+  constraint_hidden_dim: 100
+  constraint_lr: 0.0001
+  constraint_batch_size: 256
+  constraint_steps_per_epoch: 3000
+  constraint_epochs: 200
+  constraint_eval_steps: 1500
+  constraint_eval_interval: 5
+  constraint_buffer_size: 1000000
+  constraint_slack: [0.01, 0.01, 0.01, 0.05, 0.01, 0.01, 0.01, 0.05]
+
+  # loss args
+  gamma: 0.98
+  use_gae: False
+  gae_lambda: 0.8
+  use_clipped_value: False
+  clip_param: 0.1
+  target_kl: 1.587713889686473e-07
+  entropy_coef: 0.00010753631441212628
+
+  # optim args
+  opt_epochs: 5
+  mini_batch_size: 128
+  actor_lr: 0.0007948148615930024
+  critic_lr: 0.007497368468753617
+  max_grad_norm: 0.5
+
+  # runner args
+  max_env_steps: 100000
+  num_workers: 1
+  rollout_batch_size: 4
+  rollout_steps: 150
+  deque_size: 10
+  eval_batch_size: 10
+
+  # misc
+  log_interval: 100
+  save_interval: 0
+  num_checkpoints: 0
+  eval_interval: 100
+  eval_save_best: True
+  tensorboard: False

examples/rl/config_overrides/quadrotor_2D/ppo_quadrotor_2D.yaml

@@ -19,9 +19,9 @@ algo_config:
   rollout_steps: 1000
 
   # misc
-  log_interval: 1000
-  save_interval: 1000
-  num_checkpoints: 10
-  eval_interval: 1000
+  log_interval: 10000
+  save_interval: 0
+  num_checkpoints: 0
+  eval_interval: 10000
   eval_save_best: True
-  tensorboard: True
+  tensorboard: False

examples/rl/config_overrides/quadrotor_2D/quadrotor_2D_stab.yaml

@@ -7,34 +7,41 @@ task_config:
   quad_type: 2
   normalized_rl_action_space: True
 
+  init_state:
+    init_x: 0.5
+    init_x_dot: 0
+    init_z: 1.5
+    init_z_dot: 0
+    init_theta: 0
+    init_theta_dot: 0
   randomized_init: True
   randomized_inertial_prop: False
 
   init_state_randomization_info:
     init_x:
       distrib: 'uniform'
-      low: -1
-      high: 1
+      low: -2
+      high: 2
     init_x_dot:
       distrib: 'uniform'
-      low: -0.1
-      high: 0.1
+      low: -1
+      high: 1
     init_z:
       distrib: 'uniform'
-      low: 1
+      low: 0.3  # Just so it doesn't crash into the ground
       high: 2
     init_z_dot:
       distrib: 'uniform'
-      low: -0.1
-      high: 0.1
+      low: -1
+      high: 1
     init_theta:
       distrib: 'uniform'
       low: -0.2
       high: 0.2
     init_theta_dot:
       distrib: 'uniform'
-      low: -0.1
-      high: 0.1
+      low: -1.5
+      high: 1.5
 
   task: stabilization
   task_info:
@@ -45,9 +52,9 @@ task_config:
     M: 0.027
     Iyy: 1.4e-05
 
-  episode_len_sec: 6
+  episode_len_sec: 5
   cost: rl_reward
-  obs_goal_horizon: 1
+  obs_goal_horizon: 0
 
   # RL Reward
   rew_state_weight: [1, 1, 1, 1, 1, 1]