Merging in CPO code

Author: pizarrob

.pre-commit-config.yaml

@@ -15,7 +15,7 @@ repos:
     -   id: check-yaml
     -   id: check-toml
     -   id: check-added-large-files
-        args: ['--maxkb=10000']
+        args: ['--maxkb=15000']
     -   id: check-docstring-first
     -   id: check-executables-have-shebangs
     -   id: check-shebang-scripts-are-executable

experiments/mpsc/config_overrides/cartpole/cpo_cartpole.yaml

@@ -0,0 +1,30 @@
+algo: cpo
+algo_config:
+  # Model args
+  hidden1: 64
+  hidden2: 64
+
+  # Optim args
+  discount_factor: 0.98
+  v_lr: 2.0e-4
+  cost_v_lr: 2.0e-4
+  num_conjugate: 10
+  line_decay: 0.8
+  max_kl: 0.001
+  damping_coeff: 0.01
+  gae_coeff: 0.97
+  cost_d: 0.0
+
+  # Runner args
+  max_steps: 600
+  num_epochs: 4000
+  value_epochs: 100
+  eval_batch_size: 20
+
+  # Misc
+  log_interval: 40
+  save_interval: 0
+  num_checkpoints: 0
+  eval_interval: 40
+  eval_save_best: True
+  tensorboard: False

experiments/mpsc/config_overrides/quadrotor_2D/cpo_quadrotor_2D.yaml

@@ -0,0 +1,30 @@
+algo: cpo
+algo_config:
+  # Model args
+  hidden1: 64
+  hidden2: 64
+
+  # Optim args
+  discount_factor: 0.98
+  v_lr: 2.0e-4
+  cost_v_lr: 2.0e-4
+  num_conjugate: 10
+  line_decay: 0.8
+  max_kl: 0.001
+  damping_coeff: 0.01
+  gae_coeff: 0.97
+  cost_d: 0.0
+
+  # Runner args
+  max_steps: 1000
+  num_epochs: 4000
+  value_epochs: 100
+  eval_batch_size: 20
+
+  # Misc
+  log_interval: 40
+  save_interval: 0
+  num_checkpoints: 0
+  eval_interval: 40
+  eval_save_best: True
+  tensorboard: False

experiments/mpsc/config_overrides/quadrotor_3D/cpo_quadrotor_3D.yaml

@@ -0,0 +1,30 @@
+algo: cpo
+algo_config:
+  # Model args
+  hidden1: 128
+  hidden2: 128
+
+  # Optim args
+  discount_factor: 0.98
+  v_lr: 2.0e-4
+  cost_v_lr: 2.0e-4
+  num_conjugate: 10
+  line_decay: 0.8
+  max_kl: 0.001
+  damping_coeff: 0.01
+  gae_coeff: 0.97
+  cost_d: 0.0
+
+  # Runner args
+  max_steps: 1000
+  num_epochs: 4000
+  value_epochs: 150
+  eval_batch_size: 20
+
+  # Misc
+  log_interval: 40
+  save_interval: 0
+  num_checkpoints: 0
+  eval_interval: 40
+  eval_save_best: True
+  tensorboard: False

experiments/mpsc/models/rl_models/cartpole/stab/cpo/none/config.yaml

@@ -0,0 +1,148 @@
+algo: cpo
+algo_config:
+  cost_d: 0.0
+  cost_v_lr: 0.0002
+  damping_coeff: 0.01
+  discount_factor: 0.98
+  eval_batch_size: 20
+  eval_interval: 50
+  eval_save_best: true
+  filter_train_actions: false
+  gae_coeff: 0.97
+  hidden1: 32
+  hidden2: 32
+  line_decay: 0.8
+  log_interval: 50
+  max_kl: 0.001
+  max_steps: 150
+  num_checkpoints: 0
+  num_conjugate: 10
+  num_epochs: 2000
+  penalize_sf_diff: ''
+  pretrained: ./models/rl_models/cartpole/stab/cpo_pretrain/
+  save_interval: 0
+  tensorboard: false
+  training: true
+  use_safe_reset: ''
+  v_lr: 0.0002
+  value_epochs: 100
+device: cpu
+kv_overrides:
+- task_config.init_state=None
+- task_config.use_constraint_penalty=False
+- sf_config.cost_function=one_step_cost
+- sf_config.mpsc_cost_horizon=2
+- sf_config.decay_factor=0.85
+- sf_config.soften_constraints=True
+- algo_config.filter_train_actions=False
+- algo_config.use_safe_reset=
+- task_config.done_on_violation=
+- algo_config.penalize_sf_diff=
+- algo_config.pretrained=./models/rl_models/cartpole/stab/cpo_pretrain/
+output_dir: ./models/rl_models/cartpole/stab/cpo/none/
+overrides:
+- ./config_overrides/cartpole/cpo_cartpole.yaml
+- ./config_overrides/cartpole/cartpole_stab.yaml
+- ./config_overrides/cartpole/nl_mpsc_cartpole_linear.yaml
+restore: null
+safety_filter: nl_mpsc
+seed: 2
+sf_config:
+  cost_function: one_step_cost
+  decay_factor: 0.85
+  horizon: 5
+  integration_algo: LTI
+  mpsc_cost_horizon: 2
+  n_samples: 6000
+  prior_info:
+    prior_prop: null
+    prior_prop_rand_info: null
+    randomize_prior_prop: false
+  q_lin:
+  - 0.02
+  - 0.001
+  - 10
+  - 0.5
+  r_lin:
+  - 0.1
+  slack_cost: 200
+  soften_constraints: true
+  use_terminal_set: false
+  warmstart: true
+tag: temp
+task: cartpole
+task_config:
+  adversary_disturbance: null
+  adversary_disturbance_offset: 0.0
+  adversary_disturbance_scale: 0.01
+  constraint_penalty: -1
+  constraints:
+  - constrained_variable: state
+    constraint_form: default_constraint
+    lower_bounds:
+    - -2
+    - -2
+    - -0.16
+    - -1
+    upper_bounds:
+    - 2
+    - 2
+    - 0.16
+    - 1
+  - constrained_variable: input
+    constraint_form: default_constraint
+  cost: rl_reward
+  ctrl_freq: 15
+  disturbances: null
+  done_on_out_of_bound: true
+  done_on_violation: ''
+  episode_len_sec: 10
+  gui: false
+  inertial_prop:
+    cart_mass: 1
+    pole_length: 0.5
+    pole_mass: 0.1
+  inertial_prop_randomization_info: null
+  info_in_reset: true
+  init_state: null
+  init_state_randomization_info:
+    init_theta:
+      distrib: uniform
+      high: 0.16
+      low: -0.16
+    init_theta_dot:
+      distrib: uniform
+      high: 1
+      low: -1
+    init_x:
+      distrib: uniform
+      high: 2
+      low: -2
+    init_x_dot:
+      distrib: uniform
+      high: 2
+      low: -2
+  normalized_rl_action_space: true
+  obs_goal_horizon: 0
+  obs_wrap_angle: false
+  physics: pyb
+  pyb_freq: 750
+  randomized_inertial_prop: false
+  randomized_init: true
+  rew_act_weight: 0.1
+  rew_exponential: true
+  rew_state_weight:
+  - 1
+  - 1
+  - 1
+  - 1
+  seed: 4077
+  task: stabilization
+  task_info:
+    stabilization_goal:
+    - 0.7
+    - 0
+    stabilization_goal_tolerance: 0.0
+  use_constraint_penalty: false
+  verbose: false
+use_gpu: false

experiments/mpsc/models/rl_models/cartpole/stab/cpo/none/logs/loss/approx_kl.log

@@ -0,0 +1,41 @@
+step,loss/approx_kl
+7500,0.0007637462695129216
+15000,0.0006288051372393966
+22500,0.000866930466145277
+30000,0.0008193494286388159
+37500,0.0009118398302234709
+45000,0.00093095499323681
+52500,0.0009214580641128123
+60000,0.0009172772406600416
+67500,0.0008124987361952662
+75000,0.0006498565780930221
+82500,0.0008506188751198351
+90000,0.0006444334285333753
+97500,0.0006475357222370803
+105000,0.0006404643645510077
+112500,0.0006560455076396465
+120000,0.0006578431348316371
+127500,0.0006441655568778515
+135000,0.0006810820777900517
+142500,0.0009484487818554044
+150000,0.0006787514430470765
+157500,1.9780182700102067e-11
+165000,0.0006446137558668852
+172500,0.0006754323840141296
+180000,0.0006670575239695609
+187500,0.0006698388606309891
+195000,0.0006462063174694777
+202500,0.0006958717713132501
+210000,0.0009495722479186952
+217500,0.000977855990640819
+225000,0.0009298958466388285
+232500,0.0006462940364144742
+240000,0.0009904190665110946
+247500,0.0005805980181321502
+255000,0.0009628583211451769
+262500,0.0006456329138018191
+270000,0.0006483818870037794
+277500,0.0009998353198170662
+285000,0.0009329646709375083
+292500,0.0009268599678762257
+300000,2.485004660813389e-13

experiments/mpsc/models/rl_models/cartpole/stab/cpo/none/logs/loss/cost_surrogate.log

@@ -0,0 +1,41 @@
+step,loss/cost_surrogate
+7500,105.25373077392578
+15000,135.73704528808594
+22500,110.174072265625
+30000,41.73980712890625
+37500,7.966276168823242
+45000,1.0940775871276855
+52500,0.18334102630615234
+60000,0.2685624957084656
+67500,-0.04398208111524582
+75000,1.5512120723724365
+82500,0.2660902142524719
+90000,-0.021695159375667572
+97500,-0.006272792816162109
+105000,0.003720715641975403
+112500,0.035086289048194885
+120000,0.3914239704608917
+127500,-0.03873072564601898
+135000,-0.028513872995972633
+142500,-0.017245113849639893
+150000,-0.005148999392986298
+157500,0.00627563800662756
+165000,0.049609869718551636
+172500,0.061136096715927124
+180000,0.0738421231508255
+187500,-0.0001361016184091568
+195000,-0.014164653606712818
+202500,0.05187857151031494
+210000,0.1658032238483429
+217500,0.3076779544353485
+225000,0.0920017659664154
+232500,4.87026834487915
+240000,0.42213770747184753
+247500,3.4023852348327637
+255000,0.12418961524963379
+262500,-0.14210250973701477
+270000,0.13648156821727753
+277500,0.030916675925254822
+285000,-0.0545722097158432
+292500,-0.008491892367601395
+300000,-1.191438059322536e-07

experiments/mpsc/models/rl_models/cartpole/stab/cpo/none/logs/loss/cost_value_loss.log

@@ -0,0 +1,41 @@
+step,loss/cost_value_loss
+7500,38.56172180175781
+15000,26.3615665435791
+22500,12.278301239013672
+30000,16.15060806274414
+37500,1.9610624313354492
+45000,0.07205027341842651
+52500,0.2520654797554016
+60000,0.0052938312292099
+67500,0.007631403394043446
+75000,0.007784270215779543
+82500,0.0006668045534752309
+90000,0.008956549689173698
+97500,0.12046217173337936
+105000,0.006401794496923685
+112500,0.0006805356242693961
+120000,0.014772334136068821
+127500,0.001862881937995553
+135000,0.00014308057143352926
+142500,0.00017357783508487046
+150000,0.003835005685687065
+157500,0.0040668887086212635
+165000,0.004117249511182308
+172500,0.004651198163628578
+180000,0.02515612728893757
+187500,0.0033181600738316774
+195000,0.0021050202194601297
+202500,0.004466979298740625
+210000,0.004811915569007397
+217500,0.0031447347719222307
+225000,0.00039776338962838054
+232500,0.234852135181427
+240000,0.012947328388690948
+247500,0.01838028058409691
+255000,0.003159591229632497
+262500,0.0009796313242986798
+270000,0.0005409414879977703
+277500,0.0007045501261018217
+285000,0.0032590143382549286
+292500,0.00015349579916801304
+300000,0.00018221144273411483