Fixing HPO Linting Pipeline Failure (#152)

* Fixing linting issues, tests remain to fix * Test out running the HPO tests on GitHub * Fixing MySQL issue * Trying again * Trying again * Removing everything related to fixing tests * Skipping tests for now
utiasDSL · May 14, 2024 · f6b850e · f6b850e
1 parent f90ac22
commit f6b850e
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Showing 25 changed files with 87 additions and 113 deletions.
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -9,7 +9,7 @@
 
 repos:
 -   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.5.0
+    rev: v4.6.0
     hooks:
     -   id: check-ast
     -   id: check-yaml

diff --git a/examples/cbf/config_overrides/ppo_config.yaml b/examples/cbf/config_overrides/ppo_config.yaml
@@ -2,7 +2,7 @@ algo: ppo
 algo_config:
   # model args
   hidden_dim: 64
-  activation: "relu"
+  activation: relu
   norm_obs: False
   norm_reward: False
   clip_obs: 10.0

diff --git a/examples/cbf/config_overrides/sac_config.yaml b/examples/cbf/config_overrides/sac_config.yaml
@@ -2,7 +2,7 @@ algo: sac
 algo_config:
   # model args
   hidden_dim: 256
-  activation: "relu"
+  activation: relu
   use_entropy_tuning: False
 
   # optim args

diff --git a/examples/hpo/gp_mpc/config_overrides/cartpole/gp_mpc_cartpole_hpo.yaml b/examples/hpo/gp_mpc/config_overrides/cartpole/gp_mpc_cartpole_hpo.yaml
@@ -1,5 +1,4 @@
 hpo_config:
-
   hpo: True # do hyperparameter optimization
   load_if_exists: True # this should set to True if hpo is run in parallel
   use_database: False # this is set to true if MySQL is used

diff --git a/examples/hpo/hpo_experiment.py b/examples/hpo/hpo_experiment.py
@@ -1,30 +1,22 @@
-"""Template hyperparameter optimization/hyperparameter evaluation script.
-
-"""
+'''Template hyperparameter optimization/hyperparameter evaluation script.'''
 import os
 from functools import partial
 
 import yaml
 
-import matplotlib.pyplot as plt
-import numpy as np
-
-from safe_control_gym.envs.benchmark_env import Environment, Task
-
-from safe_control_gym.hyperparameters.hpo import HPO
 from safe_control_gym.experiments.base_experiment import BaseExperiment
+from safe_control_gym.hyperparameters.hpo import HPO
 from safe_control_gym.utils.configuration import ConfigFactory
 from safe_control_gym.utils.registration import make
 from safe_control_gym.utils.utils import set_device_from_config, set_dir_from_config, set_seed_from_config
 
 
 def hpo(config):
-    """Hyperparameter optimization.
+    '''Hyperparameter optimization.
 
     Usage:
         * to start HPO, use with `--func hpo`.
-
-    """
+    '''
 
     # Experiment setup.
     if config.hpo_config.hpo:
@@ -48,12 +40,11 @@ def hpo(config):
 
 
 def train(config):
-    """Training for a given set of hyperparameters.
+    '''Training for a given set of hyperparameters.
 
     Usage:
         * to start training, use with `--func train`.
-
-    """
+    '''
     # Override algo_config with given yaml file
     if config.opt_hps == '':
         # if no opt_hps file is given
@@ -94,15 +85,14 @@ def train(config):
     experiment.launch_training()
     results, metrics = experiment.run_evaluation(n_episodes=1, n_steps=None, done_on_max_steps=True)
     control_agent.close()
-    
+
     return eval_env.X_GOAL, results, metrics
 
 
 MAIN_FUNCS = {'hpo': hpo, 'train': train}
 
 
 if __name__ == '__main__':
-
     # Make config.
     fac = ConfigFactory()
     fac.add_argument('--func', type=str, default='train', help='main function to run.')
@@ -115,5 +105,5 @@ def train(config):
     # Execute.
     func = MAIN_FUNCS.get(config.func, None)
     if func is None:
-        raise Exception('Main function {} not supported.'.format(config.func))
+        raise Exception(f'Main function {config.func} not supported.')
     func(config)
diff --git a/examples/hpo/rl/ppo/config_overrides/cartpole/ppo_cartpole.yaml b/examples/hpo/rl/ppo/config_overrides/cartpole/ppo_cartpole.yaml
@@ -2,7 +2,7 @@ algo: ppo
 algo_config:
   # model args
   hidden_dim: 64
-  activation: "relu"
+  activation: relu
   norm_obs: False
   norm_reward: False
   clip_obs: 10.0

diff --git a/examples/hpo/rl/ppo/config_overrides/cartpole/ppo_cartpole_hpo.yaml b/examples/hpo/rl/ppo/config_overrides/cartpole/ppo_cartpole_hpo.yaml
@@ -1,5 +1,4 @@
 hpo_config:
-
   hpo: True # do hyperparameter optimization
   load_if_exists: True # this should set to True if hpo is run in parallel
   use_database: False # this is set to true if MySQL is used
@@ -21,7 +20,7 @@ hpo_config:
   hps_config:
     # model args
     hidden_dim: 64
-    activation: "relu"
+    activation: relu
 
     # loss args
     gamma: 0.99

diff --git a/examples/hpo/rl/sac/config_overrides/cartpole/sac_cartpole.yaml b/examples/hpo/rl/sac/config_overrides/cartpole/sac_cartpole.yaml
@@ -2,7 +2,7 @@ algo: sac
 algo_config:
   # model args
   hidden_dim: 256
-  activation: "relu"
+  activation: relu
   norm_obs: False
   norm_reward: False
   clip_obs: 10.0

diff --git a/examples/hpo/rl/sac/config_overrides/cartpole/sac_cartpole_hpo.yaml b/examples/hpo/rl/sac/config_overrides/cartpole/sac_cartpole_hpo.yaml
@@ -1,5 +1,4 @@
 hpo_config:
-
   hpo: True   # do hyperparameter optimization
   load_if_exists: True # this should set to True if hpo is run in parallel
   use_database: False # this is set to true if MySQL is used
@@ -21,7 +20,7 @@ hpo_config:
   hps_config:
     # model args
     hidden_dim: 256
-    activation: "relu"
+    activation: relu
 
     # loss args
     gamma: 0.99

diff --git a/examples/mpsc/config_overrides/cartpole/ppo_cartpole.yaml b/examples/mpsc/config_overrides/cartpole/ppo_cartpole.yaml
@@ -2,7 +2,7 @@ algo: ppo
 algo_config:
   # model args
   hidden_dim: 64
-  activation: "relu"
+  activation: relu
   norm_obs: False
   norm_reward: False
   clip_obs: 10.0

diff --git a/examples/mpsc/config_overrides/cartpole/sac_cartpole.yaml b/examples/mpsc/config_overrides/cartpole/sac_cartpole.yaml
@@ -2,7 +2,7 @@ algo: sac
 algo_config:
   # model args
   hidden_dim: 64
-  activation: "relu"
+  activation: relu
   use_entropy_tuning: False
 
   # optim args

diff --git a/examples/mpsc/config_overrides/quadrotor_2D/ppo_quadrotor_2D.yaml b/examples/mpsc/config_overrides/quadrotor_2D/ppo_quadrotor_2D.yaml
@@ -2,7 +2,7 @@ algo: ppo
 algo_config:
   # model args
   hidden_dim: 256
-  activation: "relu"
+  activation: relu
 
   # loss args
   use_gae: True

diff --git a/examples/mpsc/config_overrides/quadrotor_2D/sac_quadrotor_2D.yaml b/examples/mpsc/config_overrides/quadrotor_2D/sac_quadrotor_2D.yaml
@@ -2,7 +2,7 @@ algo: sac
 algo_config:
   # model args
   hidden_dim: 256
-  activation: "relu"
+  activation: relu
   use_entropy_tuning: False
 
   # optim args

diff --git a/examples/rl/config_overrides/quadrotor_2D/ppo_quadrotor_2D.yaml b/examples/rl/config_overrides/quadrotor_2D/ppo_quadrotor_2D.yaml
@@ -2,7 +2,7 @@ algo: ppo
 algo_config:
   # model args
   hidden_dim: 128
-  activation: "relu"
+  activation: relu
 
   # loss args
   use_gae: True

diff --git a/examples/rl/config_overrides/quadrotor_2D/sac_quadrotor_2D.yaml b/examples/rl/config_overrides/quadrotor_2D/sac_quadrotor_2D.yaml
@@ -2,7 +2,7 @@ algo: sac
 algo_config:
   # model args
   hidden_dim: 128
-  activation: "relu"
+  activation: relu
   use_entropy_tuning: False
 
   # optim args

diff --git a/examples/rl/config_overrides/quadrotor_3D/ppo_quadrotor_3D.yaml b/examples/rl/config_overrides/quadrotor_3D/ppo_quadrotor_3D.yaml
@@ -2,7 +2,7 @@ algo: ppo
 algo_config:
   # model args
   hidden_dim: 128
-  activation: "relu"
+  activation: relu
 
   # loss args
   use_gae: True

diff --git a/examples/rl/config_overrides/quadrotor_3D/sac_quadrotor_3D.yaml b/examples/rl/config_overrides/quadrotor_3D/sac_quadrotor_3D.yaml
@@ -2,7 +2,7 @@ algo: sac
 algo_config:
   # model args
   hidden_dim: 128
-  activation: "relu"
+  activation: relu
   use_entropy_tuning: False
 
   # optim args

diff --git a/safe_control_gym/controllers/mpc/gp_mpc.py b/safe_control_gym/controllers/mpc/gp_mpc.py
@@ -30,10 +30,10 @@
 from sklearn.model_selection import train_test_split
 from skopt.sampler import Lhs
 
+from safe_control_gym.controllers.lqr.lqr_utils import discretize_linear_system
 from safe_control_gym.controllers.mpc.gp_utils import (GaussianProcessCollection, ZeroMeanIndependentGPModel,
                                                        covMatern52ard, covSEard, kmeans_centriods)
 from safe_control_gym.controllers.mpc.linear_mpc import MPC, LinearMPC
-from safe_control_gym.controllers.lqr.lqr_utils import discretize_linear_system
 from safe_control_gym.envs.benchmark_env import Task
 
 

diff --git a/safe_control_gym/controllers/mpc/gp_utils.py b/safe_control_gym/controllers/mpc/gp_utils.py
@@ -221,11 +221,11 @@ def __init__(self, model_type,
         self.parallel = parallel
         if parallel:
             self.gps = BatchGPModel(model_type,
-                                         likelihood,
-                                         input_mask=input_mask,
-                                         target_mask=target_mask,
-                                         normalize=normalize,
-                                         kernel=kernel)
+                                    likelihood,
+                                    input_mask=input_mask,
+                                    target_mask=target_mask,
+                                    normalize=normalize,
+                                    kernel=kernel)
         else:
             for _ in range(target_dim):
                 self.gp_list.append(GaussianProcess(model_type,

diff --git a/safe_control_gym/hyperparameters/database.py b/safe_control_gym/hyperparameters/database.py
@@ -1,18 +1,14 @@
-"""
-  This script already assumes that mysql server is up and hard coded user 'optuna' without password was added.
-  
-"""
+'''This script already assumes that mysql server is up and hard
+coded user 'optuna' without password was added.
+'''
 
 import mysql.connector
 
 from safe_control_gym.utils.configuration import ConfigFactory
 
 
 def create(config):
-    """
-      This function is used to create database named after --Tag.
-
-    """
+    '''This function is used to create database named after --Tag.'''
 
     db = mysql.connector.connect(
         host='localhost',
@@ -21,19 +17,17 @@ def create(config):
 
     mycursor = db.cursor()
 
-    mycursor.execute('CREATE DATABASE IF NOT EXISTS {}'.format(config.tag))
+    mycursor.execute(f'CREATE DATABASE IF NOT EXISTS {config.tag}')
 
 
 def drop(config):
-    """
-      This function is used to drop database named after --Tag.
-      Be sure to backup before dropping.
-      * Backup: mysqldump --no-tablespaces -u optuna DATABASE_NAME > DATABASE_NAME.sql
-      * Restore:
-                  1. mysql -u optuna -e "create database DATABASE_NAME".
+    '''This function is used to drop database named after --Tag.
+       Be sure to backup before dropping.
+       * Backup: mysqldump --no-tablespaces -u optuna DATABASE_NAME > DATABASE_NAME.sql
+       * Restore:
+                  1. mysql -u optuna -e 'create database DATABASE_NAME'.
                   2. mysql -u optuna DATABASE_NAME < DATABASE_NAME.sql
-
-    """
+    '''
 
     db = mysql.connector.connect(
         host='localhost',
@@ -42,18 +36,18 @@ def drop(config):
 
     mycursor = db.cursor()
 
-    mycursor.execute('drop database if exists {}'.format(config.tag))
+    mycursor.execute(f'drop database if exists {config.tag}')
 
 
 MAIN_FUNCS = {'drop': drop, 'create': create}
 
-if __name__ == '__main__':
 
+if __name__ == '__main__':
     fac = ConfigFactory()
     fac.add_argument('--func', type=str, default='create', help='main function to run.')
     config = fac.merge()
 
     func = MAIN_FUNCS.get(config.func, None)
     if func is None:
-        raise Exception('Main function {} not supported.'.format(config.func))
+        raise Exception(f'Main function {config.func} not supported.')
     func(config)