Search is not available for this dataset
repo stringlengths 2 152 ⌀ | file stringlengths 15 239 | code stringlengths 0 58.4M | file_length int64 0 58.4M | avg_line_length float64 0 1.81M | max_line_length int64 0 12.7M | extension_type stringclasses 364
values |
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signal_transformer | signal_transformer-master/training/training.py | import os
from argparse import ArgumentParser
import tensorflow as tf
from tensorflow_addons.optimizers import AdamW
import yaml
from utils.dataset import load_dataset
from utils.experiment import ExperimentHandler, restore_from_checkpoint_latest, ds_tqdm
from utils.device import allow_memory_growth
from model.signal_... | 7,668 | 38.530928 | 113 | py |
signal_transformer | signal_transformer-master/utils/__init__.py | 0 | 0 | 0 | py | |
signal_transformer | signal_transformer-master/utils/dataset.py | import tensorflow as tf
import pickle
def tf_dataset(dataset, start_cut=0, cut_length=160):
def generator():
for step in dataset:
s = step['signal'][start_cut:(start_cut + cut_length)]
signal = tf.convert_to_tensor(s, tf.float32)
position = tf.convert_to_tensor(step['po... | 997 | 29.242424 | 83 | py |
signal_transformer | signal_transformer-master/utils/device.py | import tensorflow as tf
def allow_memory_growth():
gpus = tf.config.experimental.list_physical_devices('GPU')
if gpus:
try:
# Currently, memory growth needs to be the same across GPUs
for gpu in gpus:
tf.config.experimental.set_memory_growth(gpu, True)
... | 600 | 36.5625 | 81 | py |
signal_transformer | signal_transformer-master/utils/experiment.py | import io
import os
import zipfile
import requests
import tensorflow as tf
from tqdm import tqdm
class ExperimentHandler(object):
def __init__(self, working_path, out_name, max_to_keep=3, **objects_to_save):
super(ExperimentHandler, self).__init__()
# prepare log writers
train_log_path ... | 3,291 | 30.961165 | 114 | py |
CSD-manipulation | CSD-manipulation-master/README.md | # Controllability-Aware Unsupervised Skill Discovery
## Overview
This is the official implementation of [**Controllability-aware Skill Discovery** (**CSD**)](https://arxiv.org/abs/2302.05103) on manipulation environments (Fetch and Kitchen).
The codebase is based on the implementation of [MUSIC](https://github.com/ru... | 3,808 | 81.804348 | 589 | md |
CSD-manipulation | CSD-manipulation-master/save_weight.py | import os
import pickle
import subprocess
import click
import tensorflow as tf
from baselines.her.util import save_weight
@click.command()
@click.option('--policy_file', type=str, default=None)
@click.option('--run_group', type=str, default=None)
@click.option('--epoch', type=int, default=None)
def main(policy_file... | 1,125 | 28.631579 | 90 | py |
CSD-manipulation | CSD-manipulation-master/train.py | import os
import pathlib
import sys
import time
from collections import defaultdict
import click
import gym
import numpy as np
import json
from mpi4py import MPI
from baselines import logger
from baselines.common import set_global_seeds
from baselines.common.mpi_moments import mpi_moments
import baselines.her.experim... | 26,726 | 43.031301 | 563 | py |
CSD-manipulation | CSD-manipulation-master/utils.py | from matplotlib import figure
import pathlib
import numpy as np
from matplotlib.patches import Ellipse
from baselines import logger
from moviepy import editor as mpy
class FigManager:
def __init__(self, label, epoch, eval_dir):
self.label = label
self.epoch = epoch
self.fig = figure.Figur... | 9,494 | 34.297398 | 139 | py |
CSD-manipulation | CSD-manipulation-master/baselines/__init__.py | 0 | 0 | 0 | py | |
CSD-manipulation | CSD-manipulation-master/baselines/logger.py | import io
import os
import sys
import shutil
import os.path as osp
import json
import time
import datetime
import tempfile
from collections import defaultdict
import matplotlib.pyplot as plt
import wandb
from PIL import Image
import numpy as np
import tensorflow as tf
LOG_OUTPUT_FORMATS = ['stdout', 'log', 'csv', ... | 16,175 | 28.735294 | 122 | py |
CSD-manipulation | CSD-manipulation-master/baselines/results_plotter.py | import numpy as np
import matplotlib
matplotlib.use('TkAgg') # Can change to 'Agg' for non-interactive mode
import matplotlib.pyplot as plt
plt.rcParams['svg.fonttype'] = 'none'
from baselines.bench.monitor import load_results
X_TIMESTEPS = 'timesteps'
X_EPISODES = 'episodes'
X_WALLTIME = 'walltime_hrs'
POSSIBLE_X_A... | 3,080 | 34.413793 | 115 | py |
CSD-manipulation | CSD-manipulation-master/baselines/common/__init__.py | # flake8: noqa F403
from baselines.common.console_util import *
from baselines.common.dataset import Dataset
from baselines.common.math_util import *
from baselines.common.misc_util import *
| 191 | 31 | 44 | py |
CSD-manipulation | CSD-manipulation-master/baselines/common/atari_wrappers.py | import numpy as np
from collections import deque
import gym
from gym import spaces
import cv2
cv2.ocl.setUseOpenCL(False)
class NoopResetEnv(gym.Wrapper):
def __init__(self, env, noop_max=30):
"""Sample initial states by taking random number of no-ops on reset.
No-op is assumed to be action 0.
... | 8,037 | 33.059322 | 112 | py |
CSD-manipulation | CSD-manipulation-master/baselines/common/cg.py | import numpy as np
def cg(f_Ax, b, cg_iters=10, callback=None, verbose=False, residual_tol=1e-10):
"""
Demmel p 312
"""
p = b.copy()
r = b.copy()
x = np.zeros_like(b)
rdotr = r.dot(r)
fmtstr = "%10i %10.3g %10.3g"
titlestr = "%10s %10s %10s"
if verbose: print(titlestr % ("iter... | 896 | 25.382353 | 88 | py |
CSD-manipulation | CSD-manipulation-master/baselines/common/cmd_util.py | """
Helpers for scripts like run_atari.py.
"""
import os
import gym
from gym.wrappers import FlattenDictWrapper
from baselines import logger
from baselines.bench import Monitor
from baselines.common import set_global_seeds
from baselines.common.atari_wrappers import make_atari, wrap_deepmind
from baselines.common.vec_... | 2,940 | 32.420455 | 94 | py |
CSD-manipulation | CSD-manipulation-master/baselines/common/console_util.py | from __future__ import print_function
from contextlib import contextmanager
import numpy as np
import time
# ================================================================
# Misc
# ================================================================
def fmt_row(width, row, header=False):
out = " | ".join(fmt_item(x... | 1,504 | 24.083333 | 104 | py |
CSD-manipulation | CSD-manipulation-master/baselines/common/dataset.py | import numpy as np
class Dataset(object):
def __init__(self, data_map, deterministic=False, shuffle=True):
self.data_map = data_map
self.deterministic = deterministic
self.enable_shuffle = shuffle
self.n = next(iter(data_map.values())).shape[0]
self._next_id = 0
self... | 2,132 | 33.967213 | 110 | py |
CSD-manipulation | CSD-manipulation-master/baselines/common/distributions.py | import tensorflow as tf
import numpy as np
import baselines.common.tf_util as U
from baselines.a2c.utils import fc
from tensorflow.python.ops import math_ops
class Pd(object):
"""
A particular probability distribution
"""
def flatparam(self):
raise NotImplementedError
def mode(self):
... | 12,186 | 38.312903 | 243 | py |
CSD-manipulation | CSD-manipulation-master/baselines/common/filters.py | from .running_stat import RunningStat
from collections import deque
import numpy as np
class Filter(object):
def __call__(self, x, update=True):
raise NotImplementedError
def reset(self):
pass
class IdentityFilter(Filter):
def __call__(self, x, update=True):
return x
class Composi... | 2,742 | 26.707071 | 84 | py |
CSD-manipulation | CSD-manipulation-master/baselines/common/math_util.py | import numpy as np
import scipy.signal
def discount(x, gamma):
"""
computes discounted sums along 0th dimension of x.
inputs
------
x: ndarray
gamma: float
outputs
-------
y: ndarray with same shape as x, satisfying
y[t] = x[t] + gamma*x[t+1] + gamma^2*x[t+2] + ... + gam... | 2,093 | 23.635294 | 75 | py |
CSD-manipulation | CSD-manipulation-master/baselines/common/misc_util.py | import gym
import numpy as np
import os
import pickle
import random
import tempfile
import zipfile
def zipsame(*seqs):
L = len(seqs[0])
assert all(len(seq) == L for seq in seqs[1:])
return zip(*seqs)
def unpack(seq, sizes):
"""
Unpack 'seq' into a sequence of lists, with lengths specified by 'si... | 7,603 | 28.359073 | 110 | py |
CSD-manipulation | CSD-manipulation-master/baselines/common/mpi_adam.py | from mpi4py import MPI
import baselines.common.tf_util as U
import tensorflow as tf
import numpy as np
class MpiAdam(object):
def __init__(self, var_list, *, beta1=0.9, beta2=0.999, epsilon=1e-08, scale_grad_by_procs=True, comm=None):
self.var_list = var_list
self.beta1 = beta1
self.beta2 =... | 2,882 | 35.493671 | 112 | py |
CSD-manipulation | CSD-manipulation-master/baselines/common/mpi_fork.py | import os, subprocess, sys
def mpi_fork(n, bind_to_core=False):
"""Re-launches the current script with workers
Returns "parent" for original parent, "child" for MPI children
"""
if n<=1:
return "child"
if os.getenv("IN_MPI") is None:
env = os.environ.copy()
env.update(
... | 687 | 27.666667 | 66 | py |
CSD-manipulation | CSD-manipulation-master/baselines/common/mpi_moments.py | from mpi4py import MPI
import numpy as np
from baselines.common import zipsame
def mpi_mean(x, axis=0, comm=None, keepdims=False):
x = np.asarray(x)
assert x.ndim > 0
if comm is None: comm = MPI.COMM_WORLD
xsum = x.sum(axis=axis, keepdims=keepdims)
n = xsum.size
localsum = np.zeros(n+1, x.dtyp... | 1,963 | 31.196721 | 101 | py |
CSD-manipulation | CSD-manipulation-master/baselines/common/mpi_running_mean_std.py | from mpi4py import MPI
import tensorflow as tf, baselines.common.tf_util as U, numpy as np
class RunningMeanStd(object):
# https://en.wikipedia.org/wiki/Algorithms_for_calculating_variance#Parallel_algorithm
def __init__(self, epsilon=1e-2, shape=()):
self._sum = tf.compat.v1.get_variable(
... | 3,777 | 33.981481 | 126 | py |
CSD-manipulation | CSD-manipulation-master/baselines/common/mpi_sgd.py | from mpi4py import MPI
import baselines.common.tf_util as U
import tensorflow as tf
import numpy as np
class MpiSgd(object):
def __init__(self, var_list, *, scale_grad_by_procs=True, comm=None):
self.var_list = var_list
self.scale_grad_by_procs = scale_grad_by_procs
size = sum(U.numel(v) fo... | 1,451 | 32.767442 | 75 | py |
CSD-manipulation | CSD-manipulation-master/baselines/common/runners.py | import numpy as np
from abc import ABC, abstractmethod
class AbstractEnvRunner(ABC):
def __init__(self, *, env, model, nsteps):
self.env = env
self.model = model
nenv = env.num_envs
self.batch_ob_shape = (nenv*nsteps,) + env.observation_space.shape
self.obs = np.zeros((nenv,... | 620 | 31.684211 | 104 | py |
CSD-manipulation | CSD-manipulation-master/baselines/common/running_mean_std.py | import numpy as np
class RunningMeanStd(object):
# https://en.wikipedia.org/wiki/Algorithms_for_calculating_variance#Parallel_algorithm
def __init__(self, epsilon=1e-4, shape=()):
self.mean = np.zeros(shape, 'float64')
self.var = np.ones(shape, 'float64')
self.count = epsilon
def up... | 1,618 | 33.446809 | 97 | py |
CSD-manipulation | CSD-manipulation-master/baselines/common/running_stat.py | import numpy as np
# http://www.johndcook.com/blog/standard_deviation/
class RunningStat(object):
def __init__(self, shape):
self._n = 0
self._M = np.zeros(shape)
self._S = np.zeros(shape)
def push(self, x):
x = np.asarray(x)
assert x.shape == self._M.shape
self.... | 1,320 | 27.106383 | 78 | py |
CSD-manipulation | CSD-manipulation-master/baselines/common/schedules.py | """This file is used for specifying various schedules that evolve over
time throughout the execution of the algorithm, such as:
- learning rate for the optimizer
- exploration epsilon for the epsilon greedy exploration strategy
- beta parameter for beta parameter in prioritized replay
Each schedule has a function `... | 3,812 | 36.019417 | 90 | py |
CSD-manipulation | CSD-manipulation-master/baselines/common/segment_tree.py | import operator
class SegmentTree(object):
def __init__(self, capacity, operation, neutral_element):
"""Build a Segment Tree data structure.
https://en.wikipedia.org/wiki/Segment_tree
Can be used as regular array, but with two
important differences:
a) setting item's... | 4,899 | 32.561644 | 109 | py |
CSD-manipulation | CSD-manipulation-master/baselines/common/tf_util.py | import numpy as np
import tensorflow as tf # pylint: ignore-module
import copy
import os
import functools
import collections
import multiprocessing
def switch(condition, then_expression, else_expression):
"""Switches between two operations depending on a scalar value (int or bool).
Note that both `then_expres... | 11,046 | 38.173759 | 132 | py |
CSD-manipulation | CSD-manipulation-master/baselines/common/tests/test_schedules.py | import numpy as np
from baselines.common.schedules import ConstantSchedule, PiecewiseSchedule
def test_piecewise_schedule():
ps = PiecewiseSchedule([(-5, 100), (5, 200), (10, 50), (100, 50), (200, -50)], outside_value=500)
assert np.isclose(ps.value(-10), 500)
assert np.isclose(ps.value(0), 150)
ass... | 823 | 29.518519 | 101 | py |
CSD-manipulation | CSD-manipulation-master/baselines/common/tests/test_segment_tree.py | import numpy as np
from baselines.common.segment_tree import SumSegmentTree, MinSegmentTree
def test_tree_set():
tree = SumSegmentTree(4)
tree[2] = 1.0
tree[3] = 3.0
assert np.isclose(tree.sum(), 4.0)
assert np.isclose(tree.sum(0, 2), 0.0)
assert np.isclose(tree.sum(0, 3), 1.0)
assert n... | 2,691 | 24.884615 | 72 | py |
CSD-manipulation | CSD-manipulation-master/baselines/common/tests/test_tf_util.py | # tests for tf_util
import tensorflow as tf
from baselines.common.tf_util import (
function,
initialize,
single_threaded_session
)
def test_function():
with tf.Graph().as_default():
x = tf.compat.v1.placeholder(tf.int32, (), name="x")
y = tf.compat.v1.placeholder(tf.int32, (), name="y"... | 1,050 | 24.634146 | 65 | py |
CSD-manipulation | CSD-manipulation-master/baselines/common/vec_env/__init__.py | from abc import ABC, abstractmethod
from baselines import logger
class AlreadySteppingError(Exception):
"""
Raised when an asynchronous step is running while
step_async() is called again.
"""
def __init__(self):
msg = 'already running an async step'
Exception.__init__(self, msg)
cl... | 3,378 | 25.606299 | 90 | py |
CSD-manipulation | CSD-manipulation-master/baselines/common/vec_env/dummy_vec_env.py | import numpy as np
from gym import spaces
from collections import OrderedDict
from . import VecEnv
class DummyVecEnv(VecEnv):
def __init__(self, env_fns):
self.envs = [fn() for fn in env_fns]
env = self.envs[0]
VecEnv.__init__(self, len(env_fns), env.observation_space, env.action_space)
... | 2,294 | 34.307692 | 111 | py |
CSD-manipulation | CSD-manipulation-master/baselines/common/vec_env/subproc_vec_env.py | import numpy as np
from multiprocessing import Process, Pipe
from baselines.common.vec_env import VecEnv, CloudpickleWrapper
def worker(remote, parent_remote, env_fn_wrapper):
parent_remote.close()
env = env_fn_wrapper.x()
while True:
cmd, data = remote.recv()
if cmd == 'step':
... | 2,864 | 33.107143 | 97 | py |
CSD-manipulation | CSD-manipulation-master/baselines/common/vec_env/vec_frame_stack.py | from baselines.common.vec_env import VecEnvWrapper
import numpy as np
from gym import spaces
class VecFrameStack(VecEnvWrapper):
"""
Vectorized environment base class
"""
def __init__(self, venv, nstack):
self.venv = venv
self.nstack = nstack
wos = venv.observation_space # wrapp... | 1,319 | 32.846154 | 94 | py |
CSD-manipulation | CSD-manipulation-master/baselines/common/vec_env/vec_normalize.py | from baselines.common.vec_env import VecEnvWrapper
from baselines.common.running_mean_std import RunningMeanStd
import numpy as np
class VecNormalize(VecEnvWrapper):
"""
Vectorized environment base class
"""
def __init__(self, venv, ob=True, ret=True, clipob=10., cliprew=10., gamma=0.99, epsilon=1e-8):... | 1,679 | 34 | 120 | py |
CSD-manipulation | CSD-manipulation-master/baselines/her/__init__.py | 0 | 0 | 0 | py | |
CSD-manipulation | CSD-manipulation-master/baselines/her/actor_critic.py | import tensorflow as tf
from baselines.her.util import store_args, nn
import numpy as np
EPS = 1e-8
LOG_STD_MAX = 2
LOG_STD_MIN = -5
def gaussian_likelihood(x, mu, log_std):
pre_sum = -0.5 * (((x-mu)/(tf.exp(log_std)+EPS))**2 + 2*log_std + np.log(2*np.pi))
return tf.reduce_sum(input_tensor=pre_sum, axis=1)
d... | 3,727 | 39.967033 | 114 | py |
CSD-manipulation | CSD-manipulation-master/baselines/her/ddpg.py | from collections import OrderedDict, defaultdict
import numpy as np
import tensorflow as tf
# from tensorflow.contrib.staging import StagingArea
from tensorflow.python.ops.data_flow_ops import StagingArea
from baselines import logger
from baselines.her.util import (
import_function, store_args, flatten_grads, trans... | 25,444 | 45.860037 | 180 | py |
CSD-manipulation | CSD-manipulation-master/baselines/her/discriminator.py | import tensorflow as tf
from baselines.her.normalizer import Normalizer
from baselines.her.util import store_args, nn, snn
import numpy as np
class Discriminator:
@store_args
def __init__(self, inputs_tf, dimo, dimz, dimg, dimu, max_u, o_stats, g_stats, hidden, layers, env_name, **kwargs):
"""The dis... | 5,880 | 60.260417 | 186 | py |
CSD-manipulation | CSD-manipulation-master/baselines/her/her.py | import numpy as np
import random
from baselines.common.schedules import PiecewiseSchedule
from scipy.stats import rankdata
def make_sample_her_transitions(replay_strategy, replay_k, reward_fun, et_w_schedule):
if (replay_strategy == 'future') or (replay_strategy == 'final'):
future_p = 1 - (1. / (1 + rep... | 3,679 | 38.569892 | 99 | py |
CSD-manipulation | CSD-manipulation-master/baselines/her/normalizer.py | import threading
import numpy as np
from mpi4py import MPI
import tensorflow as tf
from baselines.her.util import reshape_for_broadcasting
class Normalizer:
def __init__(self, size, eps=1e-2, default_clip_range=np.inf, sess=None):
"""A normalizer that ensures that observations are approximately distribu... | 5,600 | 37.895833 | 103 | py |
CSD-manipulation | CSD-manipulation-master/baselines/her/replay_buffer.py | import threading
import numpy as np
class ReplayBuffer:
def __init__(self, buffer_shapes, size_in_transitions, T, sample_transitions):
"""Creates a replay buffer.
Args:
buffer_shapes (dict of ints): the shape for all buffers that are used in the replay
buffer
... | 3,789 | 33.770642 | 95 | py |
CSD-manipulation | CSD-manipulation-master/baselines/her/rollout.py | from collections import deque
import numpy as np
import pickle
from mujoco_py import MujocoException
from baselines.her.util import convert_episode_to_batch_major, store_args
class RolloutWorker:
@store_args
def __init__(self, make_env, policy, dims, logger, T, rollout_batch_size=1,
exploit... | 11,198 | 41.744275 | 131 | py |
CSD-manipulation | CSD-manipulation-master/baselines/her/util.py | import os
import subprocess
import sys
import importlib
import inspect
import functools
import tensorflow as tf
import numpy as np
from baselines.common import tf_util as U
import platform
import json
import math
def store_args(method):
"""Stores provided method args as instance attributes.
"""
argspec ... | 9,069 | 31.743682 | 202 | py |
CSD-manipulation | CSD-manipulation-master/baselines/her/experiment/__init__.py | 0 | 0 | 0 | py | |
CSD-manipulation | CSD-manipulation-master/baselines/her/experiment/config.py | from copy import deepcopy
import numpy as np
import json
import os
import gym
from baselines import logger
from baselines.her.ddpg import DDPG
from baselines.her.her import make_sample_her_transitions
DEFAULT_ENV_PARAMS = {
'FetchReach-v0': {
'n_cycles': 10,
},
}
DEFAULT_PARAMS = {
# env
'm... | 9,452 | 36.511905 | 121 | py |
CSD-manipulation | CSD-manipulation-master/baselines/her/experiment/play.py | import click
import numpy as np
import pickle
from baselines import logger
from baselines.common import set_global_seeds
import baselines.her.experiment.config as config
from baselines.her.rollout import RolloutWorker
from baselines.her.util import save_video
import os
import json
@click.command()
@click.argument('p... | 3,754 | 35.456311 | 120 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/__init__.py | import collections
import os
import sys
import numpy as np
import d4rl_alt.locomotion
#import d4rl_alt.hand_manipulation_suite
import d4rl_alt.pointmaze
import d4rl_alt.gym_minigrid
import d4rl_alt.gym_mujoco
from d4rl_alt.offline_env import get_keys, set_dataset_path
SUPPRESS_MESSAGES = bool(os.environ.get("D4RL_SU... | 5,046 | 30.154321 | 132 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/infos.py | """
This file holds all URLs and reference scores.
"""
# TODO(Justin): This is duplicated. Make all __init__ file URLs and scores point to this file.
DATASET_URLS = {
"maze2d-open-v0": "http://rail.eecs.berkeley.edu/datasets/offline_rl/maze2d/maze2d-open-sparse.hdf5",
"maze2d-umaze-v1": "http://rail.eecs.berk... | 11,967 | 64.043478 | 168 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/offline_env.py | import os
import urllib.request
import gym
import h5py
def set_dataset_path(path):
global DATASET_PATH
DATASET_PATH = path
os.makedirs(path, exist_ok=True)
set_dataset_path(
os.environ.get("D4RL_DATASET_DIR", os.path.expanduser("~/.d4rl_alt/datasets"))
)
def get_keys(h5file):
keys = []
d... | 5,386 | 32.880503 | 89 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/ope.py | """
Metrics for off-policy evaluation.
"""
import numpy as np
from d4rl_alt import infos
UNDISCOUNTED_POLICY_RETURNS = {
"halfcheetah-medium": 3985.8150261686337,
"halfcheetah-random": -199.26067391425954,
"halfcheetah-expert": 12330.945945279545,
"hopper-medium": 2260.1983114487352,
"hopper-rando... | 4,393 | 28.891156 | 85 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/carla/__init__.py | from gym.envs.registration import register
from .carla_env import CarlaObsDictEnv, CarlaObsEnv
register(
id="carla-lane-v0",
entry_point="d4rl_alt.carla:CarlaObsEnv",
max_episode_steps=250,
kwargs={
"ref_min_score": -0.8503839912088142,
"ref_max_score": 1023.5784385429523,
"dat... | 3,546 | 27.376 | 113 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/carla/carla_env.py | import argparse
import datetime
import glob
import os
import random
import sys
import time
import gym
import gym.spaces as spaces
from gym import Env
from PIL import Image
from PIL.PngImagePlugin import PngInfo
# from . import proxy_env
from d4rl_alt.offline_env import OfflineEnv
try:
sys.path.append(
gl... | 50,962 | 36.064 | 152 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/carla/data_collection_agent_lane.py | # !/usr/bin/env python
# Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma de
# Barcelona (UAB).
#
# This work is licensed under the terms of the MIT license.
# For a copy, see <https://opensource.org/licenses/MIT>.
#
# Modified by Rowan McAllister on 20 April 2020
import argparse
import dat... | 17,418 | 32.757752 | 138 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/carla/data_collection_town.py | #!/usr/bin/env python
# Copyright (c) 2019 Computer Vision Center (CVC) at the Universitat Autonoma de
# Barcelona (UAB).
#
# This work is licensed under the terms of the MIT license.
# For a copy, see <https://opensource.org/licenses/MIT>.
#
# Modified by Rowan McAllister on 20 April 2020
import argparse
import date... | 48,118 | 36.859166 | 152 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/carla/town_agent.py | # A baseline town agent.
import numpy as np
from agents.navigation.agent import Agent, AgentState
from agents.navigation.local_planner import LocalPlanner
class RoamingAgent(Agent):
"""
RoamingAgent implements a basic agent that navigates scenes making random
choices when facing an intersection.
This... | 5,410 | 34.136364 | 97 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/flow/__init__.py | import os
from copy import deepcopy
import flow
import flow.envs
import gym
from flow.controllers import (
RLController,
SimCarFollowingController,
SimLaneChangeController,
)
from flow.controllers.car_following_models import IDMController
from flow.controllers.routing_controllers import ContinuousRouter
fr... | 6,530 | 27.030043 | 106 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/flow/bottleneck.py | import flow
import flow.envs
from flow.controllers import (
RLController,
SimCarFollowingController,
SimLaneChangeController,
)
from flow.controllers.routing_controllers import ContinuousRouter
from flow.core.params import (
EnvParams,
InFlows,
InitialConfig,
NetParams,
SumoCarFollowingP... | 4,745 | 29.037975 | 83 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/flow/merge.py | """Open merge example.
Trains a a small percentage of rl vehicles to dissipate shockwaves caused by
on-ramp merge to a single lane open highway network.
"""
from copy import deepcopy
from flow.controllers import RLController, SimCarFollowingController
from flow.core.params import (
EnvParams,
InFlows,
Init... | 3,824 | 30.352459 | 81 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/flow/traffic_light_grid.py | """Traffic Light Grid example."""
from flow.controllers import GridRouter, SimCarFollowingController
from flow.core.params import (
EnvParams,
InFlows,
InitialConfig,
NetParams,
SumoCarFollowingParams,
SumoParams,
VehicleParams,
)
from flow.envs import TrafficLightGridBenchmarkEnv
from flow.... | 4,593 | 34.338462 | 82 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/gym_minigrid/__init__.py | from gym.envs.registration import register
register(
id="minigrid-fourrooms-v0",
entry_point="d4rl_alt.gym_minigrid.envs.fourrooms:FourRoomsEnv",
max_episode_steps=50,
kwargs={
"ref_min_score": 0.01442,
"ref_max_score": 2.89685,
"dataset_url": "http://rail.eecs.berkeley.edu/data... | 723 | 29.166667 | 111 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/gym_minigrid/fourroom_controller.py | import random
import numpy as np
from d4rl_alt.pointmaze import q_iteration
from d4rl_alt.pointmaze.gridcraft import grid_env, grid_spec
MAZE = (
"###################\\"
+ "#OOOOOOOO#OOOOOOOO#\\"
+ "#OOOOOOOO#OOOOOOOO#\\"
+ "#OOOOOOOOOOOOOOOOO#\\"
+ "#OOOOOOOO#OOOOOOOO#\\"
+ "#OOOOOOOO#OOOOOO... | 2,417 | 25.571429 | 88 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/gym_minigrid/minigrid.py | import math
from enum import IntEnum
import gym
import numpy as np
from gym import error, spaces, utils
from gym.utils import seeding
from d4rl_alt import offline_env
from d4rl_alt.gym_minigrid.rendering import *
# Size in pixels of a tile in the full-scale human view
TILE_PIXELS = 32
# Map of color names to RGB va... | 36,217 | 27.540583 | 112 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/gym_minigrid/register.py | from gym.envs.registration import register as gym_register
env_list = []
def register(id, entry_point, reward_threshold=0.95):
assert id.startswith("MiniGrid-")
assert id not in env_list
# Register the environment with OpenAI gym
gym_register(id=id, entry_point=entry_point, reward_threshold=reward_t... | 392 | 25.2 | 83 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/gym_minigrid/rendering.py | import math
import numpy as np
def downsample(img, factor):
"""
Downsample an image along both dimensions by some factor
"""
assert img.shape[0] % factor == 0
assert img.shape[1] % factor == 0
img = img.reshape(
[img.shape[0] // factor, factor, img.shape[1] // factor, factor, 3]
... | 2,923 | 21.151515 | 75 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/gym_minigrid/roomgrid.py | from d4rl_alt.gym_minigrid.minigrid import *
def reject_next_to(env, pos):
"""
Function to filter out object positions that are right next to
the agent's starting point
"""
sx, sy = env.agent_pos
x, y = pos
d = abs(sx - x) + abs(sy - y)
return d < 2
class Room:
def __init__(self... | 11,471 | 28.720207 | 83 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/gym_minigrid/window.py | import sys
import numpy as np
# Only ask users to install matplotlib if they actually need it
try:
import matplotlib.pyplot as plt
except:
print("To display the environment in a window, please install matplotlib, eg:")
print("pip3 install --user matplotlib")
sys.exit(-1)
class Window:
"""
Wi... | 2,251 | 23.215054 | 83 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/gym_minigrid/wrappers.py | import math
import operator
from functools import reduce
import gym
import numpy as np
from gym import error, spaces, utils
from d4rl_alt.gym_minigrid.minigrid import COLOR_TO_IDX, OBJECT_TO_IDX, STATE_TO_IDX
class ReseedWrapper(gym.core.Wrapper):
"""
Wrapper to always regenerate an environment with the sam... | 9,067 | 27.515723 | 88 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/gym_minigrid/envs/__init__.py | from d4rl_alt.gym_minigrid.envs.empty import *
from d4rl_alt.gym_minigrid.envs.fourrooms import *
| 98 | 32 | 50 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/gym_minigrid/envs/empty.py | from d4rl_alt.gym_minigrid.minigrid import *
from d4rl_alt.gym_minigrid.register import register
class EmptyEnv(MiniGridEnv):
"""
Empty grid environment, no obstacles, sparse reward
"""
def __init__(
self,
size=8,
agent_start_pos=(1, 1),
agent_start_dir=0,
):
... | 2,220 | 24.825581 | 88 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/gym_minigrid/envs/fourrooms.py | #!/usr/bin/env python
# -*- coding: utf-8 -*-
from d4rl_alt.gym_minigrid.minigrid import *
from d4rl_alt.gym_minigrid.register import register
class FourRoomsEnv(MiniGridEnv):
"""
Classic 4 rooms gridworld environment.
Can specify agent and goal position, if not it set at random.
"""
def __init_... | 2,581 | 30.487805 | 84 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/gym_mujoco/__init__.py | from gym.envs.registration import register
from d4rl_alt.gym_mujoco import gym_envs
HOPPER_RANDOM_SCORE = -20.272305
HALFCHEETAH_RANDOM_SCORE = -280.178953
WALKER_RANDOM_SCORE = 1.629008
ANT_RANDOM_SCORE = -325.6
HOPPER_EXPERT_SCORE = 3234.3
HALFCHEETAH_EXPERT_SCORE = 12135.0
WALKER_EXPERT_SCORE = 4592.3
ANT_EXPERT_... | 7,873 | 30.75 | 117 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/gym_mujoco/gym_envs.py | from gym.envs.mujoco import AntEnv, HalfCheetahEnv, HopperEnv, Walker2dEnv
from .. import offline_env
from .wrappers import NormalizedBoxEnv
class OfflineAntEnv(AntEnv, offline_env.OfflineEnv):
def __init__(self, **kwargs):
AntEnv.__init__(
self,
)
offline_env.OfflineEnv.__ini... | 1,412 | 23.362069 | 74 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/gym_mujoco/wrappers.py | import itertools
from collections import deque
import numpy as np
from gym import Env
from gym.spaces import Box, Discrete
class ProxyEnv(Env):
def __init__(self, wrapped_env):
self._wrapped_env = wrapped_env
self.action_space = self._wrapped_env.action_space
self.observation_space = self... | 5,512 | 31.052326 | 83 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/hand_manipulation_suite/__init__.py | from gym.envs.registration import register
from mjrl.envs.mujoco_env import MujocoEnv
from d4rl_alt.hand_manipulation_suite.door_v0 import DoorEnvV0
from d4rl_alt.hand_manipulation_suite.hammer_v0 import HammerEnvV0
from d4rl_alt.hand_manipulation_suite.pen_v0 import PenEnvV0
from d4rl_alt.hand_manipulation_suite.relo... | 5,515 | 29.307692 | 120 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/hand_manipulation_suite/door_v0.py | import os
import numpy as np
from gym import spaces, utils
from mjrl.envs import mujoco_env
from mujoco_py import MjViewer
from d4rl_alt import offline_env
ADD_BONUS_REWARDS = True
class DoorEnvV0(mujoco_env.MujocoEnv, utils.EzPickle, offline_env.OfflineEnv):
def __init__(self, **kwargs):
offline_env.O... | 5,895 | 31.938547 | 88 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/hand_manipulation_suite/hammer_v0.py | import os
import numpy as np
from gym import spaces, utils
from mjrl.envs import mujoco_env
from mujoco_py import MjViewer
from d4rl_alt import offline_env
from d4rl_alt.utils.quatmath import quat2euler
ADD_BONUS_REWARDS = True
class HammerEnvV0(mujoco_env.MujocoEnv, utils.EzPickle, offline_env.OfflineEnv):
de... | 6,437 | 35.168539 | 88 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/hand_manipulation_suite/pen_v0.py | import os
import numpy as np
from gym import spaces, utils
from mjrl.envs import mujoco_env
from mujoco_py import MjViewer
from d4rl_alt import offline_env
from d4rl_alt.utils.quatmath import euler2quat, quat2euler
ADD_BONUS_REWARDS = True
class PenEnvV0(mujoco_env.MujocoEnv, utils.EzPickle, offline_env.OfflineEnv... | 7,119 | 34.6 | 88 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/hand_manipulation_suite/relocate_v0.py | import os
import numpy as np
from gym import spaces, utils
from mjrl.envs import mujoco_env
from mujoco_py import MjViewer
from d4rl_alt import offline_env
ADD_BONUS_REWARDS = True
class RelocateEnvV0(mujoco_env.MujocoEnv, utils.EzPickle, offline_env.OfflineEnv):
def __init__(self, **kwargs):
offline_e... | 6,435 | 34.955307 | 88 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/hand_manipulation_suite/Adroit/README.md | # Adroit Manipulation Platform
Adroit manipulation platform is reconfigurable, tendon-driven, pneumatically-actuated platform designed and developed by [Vikash Kumar](https://vikashplus.github.io/) during this Ph.D. ([Thesis: Manipulators and Manipulation in high dimensional spaces](https://digital.lib.washington.edu/... | 2,461 | 81.066667 | 1,216 | md |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/kitchen/__init__.py | from gym.envs.registration import register
from .kitchen_envs import (
KitchenHingeSlideBottomLeftBurnerLightV0,
KitchenMicrowaveKettleLightTopLeftBurnerV0,
)
# Smaller dataset with only positive demonstrations.
register(
id="kitchen-complete-v0",
entry_point="d4rl_alt.kitchen:KitchenMicrowaveKettleLi... | 1,562 | 32.978261 | 135 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/kitchen/env_dict.py | from d4rl_alt.kitchen.kitchen_envs import (
KitchenHingeCabinetV0,
KitchenHingeSlideBottomLeftBurnerLightV0,
KitchenKettleV0,
KitchenLightSwitchV0,
KitchenMicrowaveKettleLightTopLeftBurnerV0,
KitchenMicrowaveV0,
KitchenSlideCabinetV0,
KitchenTopLeftBurnerV... | 774 | 34.227273 | 88 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/kitchen/kitchen_envs.py | """Environments using kitchen and Franka robot."""
import copy
import gym
import numpy as np
from gym import spaces
from gym.spaces.box import Box
from d4rl_alt.kitchen.adept_envs.franka.kitchen_multitask_v0 import KitchenTaskRelaxV1
OBS_ELEMENT_INDICES = {
"bottom left burner": np.array([11, 12]),
"top left... | 23,478 | 32.162429 | 93 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/kitchen/run_kitchen.py | import gym
import d4rl_alt
import cv2
from envs.d4rl_envs import KitchenEnv
#from d4rl_alt.kitchen.kitchen_envs import KitchenMicrowaveV0
import imageio
env = KitchenEnv()
env.reset()
done = False
imgs = []
for i in range(150):
o, r, d, i = env.step(env.action_space.sample())
print("microwave", i["microwave di... | 522 | 22.772727 | 61 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/kitchen/adept_envs/__init__.py | #!/usr/bin/python
#
# Copyright 2020 Google LLC
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or ag... | 711 | 36.473684 | 74 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/kitchen/adept_envs/base_robot.py | #!/usr/bin/python
#
# Copyright 2020 Google LLC
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or ag... | 4,458 | 28.143791 | 83 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/kitchen/adept_envs/mujoco_env.py | """Base environment for MuJoCo-based environments."""
#!/usr/bin/python
#
# Copyright 2020 Google LLC
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/... | 7,542 | 32.977477 | 87 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/kitchen/adept_envs/robot_env.py | """Base class for robotics environments."""
#!/usr/bin/python
#
# Copyright 2020 Google LLC
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.... | 5,622 | 30.589888 | 85 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/kitchen/adept_envs/franka/__init__.py | #!/usr/bin/python
#
# Copyright 2020 Google LLC
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or ag... | 801 | 31.08 | 76 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/kitchen/adept_envs/franka/kitchen_multitask_v0.py | """ Kitchen environment for long horizon manipulation """
#!/usr/bin/python
#
# Copyright 2020 Google LLC
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licens... | 32,746 | 33.325996 | 100 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/kitchen/adept_envs/franka/robot/__init__.py | 0 | 0 | 0 | py | |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/kitchen/adept_envs/franka/robot/franka_robot.py | #!/usr/bin/python
#
# Copyright 2020 Google LLC
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or ag... | 12,704 | 33.808219 | 109 | py |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/kitchen/adept_envs/simulation/__init__.py | 0 | 0 | 0 | py | |
CSD-manipulation | CSD-manipulation-master/d4rl_alt/kitchen/adept_envs/simulation/module.py | #!/usr/bin/python
#
# Copyright 2020 Google LLC
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or ag... | 3,644 | 25.605839 | 80 | py |