minor update to CEM

baselines/cem/experiment.py

@@ -110,7 +110,7 @@ def run(config, seed, device, logdir):
         for generation in range(config['train.generations']):
             start_time = time.perf_counter()
             solutions = es.ask()
-            out = list(executor.map(fitness, solutions, chunksize=4))
+            out = list(executor.map(fitness, solutions, chunksize=2))
             Rs, Hs = zip(*out)
             es.tell(solutions, [-R for R in Rs])
             logger = Logger()

baselines/cem/logs/default/0/1500925526/anim/openaigym.episode_batch.4.4006903.stats.json

@@ -0,0 +1 @@
+{"initial_reset_timestamp": 1557749951.930629, "timestamps": [1557749973.6778183], "episode_lengths": [1000], "episode_rewards": [3271.0813219471493], "episode_types": ["t", "t"]}

baselines/cem/logs/default/0/1500925526/anim/openaigym.manifest.4.4006903.manifest.json

@@ -0,0 +1 @@
+{"stats": "openaigym.episode_batch.4.4006903.stats.json", "videos": [["openaigym.video.4.4006903.video000000.mp4", "openaigym.video.4.4006903.video000000.meta.json"], ["openaigym.video.4.4006903.video000001.mp4", "openaigym.video.4.4006903.video000001.meta.json"]], "env_info": {"gym_version": "0.12.1", "env_id": "HalfCheetah-v3"}}

baselines/cem/logs/default/0/1500925526/anim/openaigym.video.4.4006903.video000000.meta.json

@@ -0,0 +1 @@
+{"episode_id": 0, "content_type": "video/mp4", "encoder_version": {"backend": "ffmpeg", "version": "b'ffmpeg version 3.4.4-0ubuntu0.18.04.1 Copyright (c) 2000-2018 the FFmpeg developers\\nbuilt with gcc 7 (Ubuntu 7.3.0-16ubuntu3)\\nconfiguration: --prefix=/usr --extra-version=0ubuntu0.18.04.1 --toolchain=hardened --libdir=/usr/lib/x86_64-linux-gnu --incdir=/usr/include/x86_64-linux-gnu --enable-gpl --disable-stripping --enable-avresample --enable-avisynth --enable-gnutls --enable-ladspa --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libgme --enable-libgsm --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librubberband --enable-librsvg --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libssh --enable-libtheora --enable-libtwolame --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzmq --enable-libzvbi --enable-omx --enable-openal --enable-opengl --enable-sdl2 --enable-libdc1394 --enable-libdrm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libopencv --enable-libx264 --enable-shared\\nlibavutil      55. 78.100 / 55. 78.100\\nlibavcodec     57.107.100 / 57.107.100\\nlibavformat    57. 83.100 / 57. 83.100\\nlibavdevice    57. 10.100 / 57. 10.100\\nlibavfilter     6.107.100 /  6.107.100\\nlibavresample   3.  7.  0 /  3.  7.  0\\nlibswscale      4.  8.100 /  4.  8.100\\nlibswresample   2.  9.100 /  2.  9.100\\nlibpostproc    54.  7.100 / 54.  7.100\\n'", "cmdline": ["ffmpeg", "-nostats", "-loglevel", "error", "-y", "-r", "20", "-f", "rawvideo", "-s:v", "500x500", "-pix_fmt", "rgb24", "-i", "-", "-vf", "scale=trunc(iw/2)*2:trunc(ih/2)*2", "-vcodec", "libx264", "-pix_fmt", "yuv420p", "/home/zuo/Code/lagom/baselines/cem/logs/default/0/1500925526/anim/openaigym.video.4.4006903.video000000.mp4"]}}

baselines/cem/logs/default/0/1500925526/anim/openaigym.video.4.4006903.video000001.meta.json

@@ -0,0 +1 @@
+{"episode_id": 1, "content_type": "video/mp4", "encoder_version": {"backend": "ffmpeg", "version": "b'ffmpeg version 3.4.4-0ubuntu0.18.04.1 Copyright (c) 2000-2018 the FFmpeg developers\\nbuilt with gcc 7 (Ubuntu 7.3.0-16ubuntu3)\\nconfiguration: --prefix=/usr --extra-version=0ubuntu0.18.04.1 --toolchain=hardened --libdir=/usr/lib/x86_64-linux-gnu --incdir=/usr/include/x86_64-linux-gnu --enable-gpl --disable-stripping --enable-avresample --enable-avisynth --enable-gnutls --enable-ladspa --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libgme --enable-libgsm --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librubberband --enable-librsvg --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libssh --enable-libtheora --enable-libtwolame --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzmq --enable-libzvbi --enable-omx --enable-openal --enable-opengl --enable-sdl2 --enable-libdc1394 --enable-libdrm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libopencv --enable-libx264 --enable-shared\\nlibavutil      55. 78.100 / 55. 78.100\\nlibavcodec     57.107.100 / 57.107.100\\nlibavformat    57. 83.100 / 57. 83.100\\nlibavdevice    57. 10.100 / 57. 10.100\\nlibavfilter     6.107.100 /  6.107.100\\nlibavresample   3.  7.  0 /  3.  7.  0\\nlibswscale      4.  8.100 /  4.  8.100\\nlibswresample   2.  9.100 /  2.  9.100\\nlibpostproc    54.  7.100 / 54.  7.100\\n'", "cmdline": ["ffmpeg", "-nostats", "-loglevel", "error", "-y", "-r", "20", "-f", "rawvideo", "-s:v", "500x500", "-pix_fmt", "rgb24", "-i", "-", "-vf", "scale=trunc(iw/2)*2:trunc(ih/2)*2", "-vcodec", "libx264", "-pix_fmt", "yuv420p", "/home/zuo/Code/lagom/baselines/cem/logs/default/0/1500925526/anim/openaigym.video.4.4006903.video000001.mp4"]}}

baselines/cem/logs/default/0/config.yml

@@ -1,17 +1,12 @@
 ID: 0
-cuda: false
-log.dir: logs/default
 log.freq: 10
-checkpoint.freq: 50
+checkpoint.num: 3
 env.standardize_obs: false
 nn.sizes:
 - 64
 - 64
 env.clip_action: true
-agent.std0: 0.5
-agent.std_style: exp
-agent.std_range: null
-agent.beta: null
+agent.std0: 0.6
 train.generations: 1000
 train.popsize: 64
 train.mu0: 0.0

baselines/cem/logs/default/1/1500925526/anim/openaigym.episode_batch.5.4006903.stats.json

@@ -0,0 +1 @@
+{"initial_reset_timestamp": 1557749987.1356156, "timestamps": [1557750009.2553337], "episode_lengths": [1000], "episode_rewards": [1527.042073201088], "episode_types": ["t", "t"]}

baselines/cem/logs/default/1/1500925526/anim/openaigym.manifest.5.4006903.manifest.json

@@ -0,0 +1 @@
+{"stats": "openaigym.episode_batch.5.4006903.stats.json", "videos": [["openaigym.video.5.4006903.video000000.mp4", "openaigym.video.5.4006903.video000000.meta.json"], ["openaigym.video.5.4006903.video000001.mp4", "openaigym.video.5.4006903.video000001.meta.json"]], "env_info": {"gym_version": "0.12.1", "env_id": "Hopper-v3"}}

baselines/cem/logs/default/1/1500925526/anim/openaigym.video.5.4006903.video000000.meta.json

@@ -0,0 +1 @@
+{"episode_id": 0, "content_type": "video/mp4", "encoder_version": {"backend": "ffmpeg", "version": "b'ffmpeg version 3.4.4-0ubuntu0.18.04.1 Copyright (c) 2000-2018 the FFmpeg developers\\nbuilt with gcc 7 (Ubuntu 7.3.0-16ubuntu3)\\nconfiguration: --prefix=/usr --extra-version=0ubuntu0.18.04.1 --toolchain=hardened --libdir=/usr/lib/x86_64-linux-gnu --incdir=/usr/include/x86_64-linux-gnu --enable-gpl --disable-stripping --enable-avresample --enable-avisynth --enable-gnutls --enable-ladspa --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libgme --enable-libgsm --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librubberband --enable-librsvg --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libssh --enable-libtheora --enable-libtwolame --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzmq --enable-libzvbi --enable-omx --enable-openal --enable-opengl --enable-sdl2 --enable-libdc1394 --enable-libdrm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libopencv --enable-libx264 --enable-shared\\nlibavutil      55. 78.100 / 55. 78.100\\nlibavcodec     57.107.100 / 57.107.100\\nlibavformat    57. 83.100 / 57. 83.100\\nlibavdevice    57. 10.100 / 57. 10.100\\nlibavfilter     6.107.100 /  6.107.100\\nlibavresample   3.  7.  0 /  3.  7.  0\\nlibswscale      4.  8.100 /  4.  8.100\\nlibswresample   2.  9.100 /  2.  9.100\\nlibpostproc    54.  7.100 / 54.  7.100\\n'", "cmdline": ["ffmpeg", "-nostats", "-loglevel", "error", "-y", "-r", "125", "-f", "rawvideo", "-s:v", "500x500", "-pix_fmt", "rgb24", "-i", "-", "-vf", "scale=trunc(iw/2)*2:trunc(ih/2)*2", "-vcodec", "libx264", "-pix_fmt", "yuv420p", "/home/zuo/Code/lagom/baselines/cem/logs/default/1/1500925526/anim/openaigym.video.5.4006903.video000000.mp4"]}}

baselines/cem/logs/default/1/1500925526/anim/openaigym.video.5.4006903.video000001.meta.json

@@ -0,0 +1 @@
+{"episode_id": 1, "content_type": "video/mp4", "encoder_version": {"backend": "ffmpeg", "version": "b'ffmpeg version 3.4.4-0ubuntu0.18.04.1 Copyright (c) 2000-2018 the FFmpeg developers\\nbuilt with gcc 7 (Ubuntu 7.3.0-16ubuntu3)\\nconfiguration: --prefix=/usr --extra-version=0ubuntu0.18.04.1 --toolchain=hardened --libdir=/usr/lib/x86_64-linux-gnu --incdir=/usr/include/x86_64-linux-gnu --enable-gpl --disable-stripping --enable-avresample --enable-avisynth --enable-gnutls --enable-ladspa --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libgme --enable-libgsm --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librubberband --enable-librsvg --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libssh --enable-libtheora --enable-libtwolame --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzmq --enable-libzvbi --enable-omx --enable-openal --enable-opengl --enable-sdl2 --enable-libdc1394 --enable-libdrm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libopencv --enable-libx264 --enable-shared\\nlibavutil      55. 78.100 / 55. 78.100\\nlibavcodec     57.107.100 / 57.107.100\\nlibavformat    57. 83.100 / 57. 83.100\\nlibavdevice    57. 10.100 / 57. 10.100\\nlibavfilter     6.107.100 /  6.107.100\\nlibavresample   3.  7.  0 /  3.  7.  0\\nlibswscale      4.  8.100 /  4.  8.100\\nlibswresample   2.  9.100 /  2.  9.100\\nlibpostproc    54.  7.100 / 54.  7.100\\n'", "cmdline": ["ffmpeg", "-nostats", "-loglevel", "error", "-y", "-r", "125", "-f", "rawvideo", "-s:v", "500x500", "-pix_fmt", "rgb24", "-i", "-", "-vf", "scale=trunc(iw/2)*2:trunc(ih/2)*2", "-vcodec", "libx264", "-pix_fmt", "yuv420p", "/home/zuo/Code/lagom/baselines/cem/logs/default/1/1500925526/anim/openaigym.video.5.4006903.video000001.mp4"]}}

baselines/cem/logs/default/1/config.yml

@@ -1,17 +1,12 @@
 ID: 1
-cuda: false
-log.dir: logs/default
 log.freq: 10
-checkpoint.freq: 50
+checkpoint.num: 3
 env.standardize_obs: false
 nn.sizes:
 - 64
 - 64
 env.clip_action: true
-agent.std0: 0.5
-agent.std_style: exp
-agent.std_range: null
-agent.beta: null
+agent.std0: 0.6
 train.generations: 1000
 train.popsize: 64
 train.mu0: 0.0

baselines/cem/logs/default/2/config.yml

@@ -1,17 +1,12 @@
 ID: 2
-cuda: false
-log.dir: logs/default
 log.freq: 10
-checkpoint.freq: 50
+checkpoint.num: 3
 env.standardize_obs: false
 nn.sizes:
 - 64
 - 64
 env.clip_action: true
-agent.std0: 0.5
-agent.std_style: exp
-agent.std_range: null
-agent.beta: null
+agent.std0: 0.6
 train.generations: 1000
 train.popsize: 64
 train.mu0: 0.0

baselines/cem/logs/default/3/1500925526/anim/openaigym.episode_batch.3.4006903.stats.json

@@ -0,0 +1 @@
+{"initial_reset_timestamp": 1557749914.5921068, "timestamps": [1557749937.1262717], "episode_lengths": [1000], "episode_rewards": [137.30035351946756], "episode_types": ["t", "t"]}

baselines/cem/logs/default/3/1500925526/anim/openaigym.manifest.3.4006903.manifest.json

@@ -0,0 +1 @@
+{"stats": "openaigym.episode_batch.3.4006903.stats.json", "videos": [["openaigym.video.3.4006903.video000000.mp4", "openaigym.video.3.4006903.video000000.meta.json"], ["openaigym.video.3.4006903.video000001.mp4", "openaigym.video.3.4006903.video000001.meta.json"]], "env_info": {"gym_version": "0.12.1", "env_id": "Swimmer-v3"}}

baselines/cem/logs/default/3/1500925526/anim/openaigym.video.0.1844300.video000000.meta.json → baselines/cem/logs/default/3/1500925526/anim/openaigym.video.3.4006903.video000000.meta.json

@@ -1 +1 @@
-{"episode_id": 0, "content_type": "video/mp4", "encoder_version": {"backend": "ffmpeg", "version": "b'ffmpeg version 3.4.4-0ubuntu0.18.04.1 Copyright (c) 2000-2018 the FFmpeg developers\\nbuilt with gcc 7 (Ubuntu 7.3.0-16ubuntu3)\\nconfiguration: --prefix=/usr --extra-version=0ubuntu0.18.04.1 --toolchain=hardened --libdir=/usr/lib/x86_64-linux-gnu --incdir=/usr/include/x86_64-linux-gnu --enable-gpl --disable-stripping --enable-avresample --enable-avisynth --enable-gnutls --enable-ladspa --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libgme --enable-libgsm --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librubberband --enable-librsvg --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libssh --enable-libtheora --enable-libtwolame --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzmq --enable-libzvbi --enable-omx --enable-openal --enable-opengl --enable-sdl2 --enable-libdc1394 --enable-libdrm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libopencv --enable-libx264 --enable-shared\\nlibavutil      55. 78.100 / 55. 78.100\\nlibavcodec     57.107.100 / 57.107.100\\nlibavformat    57. 83.100 / 57. 83.100\\nlibavdevice    57. 10.100 / 57. 10.100\\nlibavfilter     6.107.100 /  6.107.100\\nlibavresample   3.  7.  0 /  3.  7.  0\\nlibswscale      4.  8.100 /  4.  8.100\\nlibswresample   2.  9.100 /  2.  9.100\\nlibpostproc    54.  7.100 / 54.  7.100\\n'", "cmdline": ["ffmpeg", "-nostats", "-loglevel", "error", "-y", "-r", "25", "-f", "rawvideo", "-s:v", "500x500", "-pix_fmt", "rgb24", "-i", "-", "-vf", "scale=trunc(iw/2)*2:trunc(ih/2)*2", "-vcodec", "libx264", "-pix_fmt", "yuv420p", "/home/zuo/Code/tmp/lagom/baselines/cem/logs/default/3/1500925526/anim/openaigym.video.0.1844300.video000000.mp4"]}}
+{"episode_id": 0, "content_type": "video/mp4", "encoder_version": {"backend": "ffmpeg", "version": "b'ffmpeg version 3.4.4-0ubuntu0.18.04.1 Copyright (c) 2000-2018 the FFmpeg developers\\nbuilt with gcc 7 (Ubuntu 7.3.0-16ubuntu3)\\nconfiguration: --prefix=/usr --extra-version=0ubuntu0.18.04.1 --toolchain=hardened --libdir=/usr/lib/x86_64-linux-gnu --incdir=/usr/include/x86_64-linux-gnu --enable-gpl --disable-stripping --enable-avresample --enable-avisynth --enable-gnutls --enable-ladspa --enable-libass --enable-libbluray --enable-libbs2b --enable-libcaca --enable-libcdio --enable-libflite --enable-libfontconfig --enable-libfreetype --enable-libfribidi --enable-libgme --enable-libgsm --enable-libmp3lame --enable-libmysofa --enable-libopenjpeg --enable-libopenmpt --enable-libopus --enable-libpulse --enable-librubberband --enable-librsvg --enable-libshine --enable-libsnappy --enable-libsoxr --enable-libspeex --enable-libssh --enable-libtheora --enable-libtwolame --enable-libvorbis --enable-libvpx --enable-libwavpack --enable-libwebp --enable-libx265 --enable-libxml2 --enable-libxvid --enable-libzmq --enable-libzvbi --enable-omx --enable-openal --enable-opengl --enable-sdl2 --enable-libdc1394 --enable-libdrm --enable-libiec61883 --enable-chromaprint --enable-frei0r --enable-libopencv --enable-libx264 --enable-shared\\nlibavutil      55. 78.100 / 55. 78.100\\nlibavcodec     57.107.100 / 57.107.100\\nlibavformat    57. 83.100 / 57. 83.100\\nlibavdevice    57. 10.100 / 57. 10.100\\nlibavfilter     6.107.100 /  6.107.100\\nlibavresample   3.  7.  0 /  3.  7.  0\\nlibswscale      4.  8.100 /  4.  8.100\\nlibswresample   2.  9.100 /  2.  9.100\\nlibpostproc    54.  7.100 / 54.  7.100\\n'", "cmdline": ["ffmpeg", "-nostats", "-loglevel", "error", "-y", "-r", "25", "-f", "rawvideo", "-s:v", "500x500", "-pix_fmt", "rgb24", "-i", "-", "-vf", "scale=trunc(iw/2)*2:trunc(ih/2)*2", "-vcodec", "libx264", "-pix_fmt", "yuv420p", "/home/zuo/Code/lagom/baselines/cem/logs/default/3/1500925526/anim/openaigym.video.3.4006903.video000000.mp4"]}}