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def _exclude_regex(self, which):
"""Return a compiled regex for the given exclusion list."""
if which not in self._exclude_re:
excl_list = getattr(self.config, which + "_list")
self._exclude_re[which] = join_regex(excl_list)
return self._exclude_re[which] |
def save(self):
"""Save the collected coverage data to the data file."""
data_suffix = self.data_suffix
if data_suffix is True:
# If data_suffix was a simple true value, then make a suffix with
# plenty of distinguishing information. We do this here in
# `save()` at the last minute so that the pid will be correct even
# if the process forks.
extra = ""
if _TEST_NAME_FILE:
f = open(_TEST_NAME_FILE)
test_name = f.read()
f.close()
extra = "." + test_name
data_suffix = "%s%s.%s.%06d" % (
socket.gethostname(), extra, os.getpid(),
random.randint(0, 999999)
)
self._harvest_data()
self.data.write(suffix=data_suffix) |
def combine(self):
"""Combine together a number of similarly-named coverage data files.
All coverage data files whose name starts with `data_file` (from the
coverage() constructor) will be read, and combined together into the
current measurements.
"""
aliases = None
if self.config.paths:
aliases = PathAliases(self.file_locator)
for paths in self.config.paths.values():
result = paths[0]
for pattern in paths[1:]:
aliases.add(pattern, result)
self.data.combine_parallel_data(aliases=aliases) |
def _harvest_data(self):
"""Get the collected data and reset the collector.
Also warn about various problems collecting data.
"""
if not self._measured:
return
self.data.add_line_data(self.collector.get_line_data())
self.data.add_arc_data(self.collector.get_arc_data())
self.collector.reset()
# If there are still entries in the source_pkgs list, then we never
# encountered those packages.
if self._warn_unimported_source:
for pkg in self.source_pkgs:
self._warn("Module %s was never imported." % pkg)
# Find out if we got any data.
summary = self.data.summary()
if not summary and self._warn_no_data:
self._warn("No data was collected.")
# Find files that were never executed at all.
for src in self.source:
for py_file in find_python_files(src):
py_file = self.file_locator.canonical_filename(py_file)
if self.omit_match and self.omit_match.match(py_file):
# Turns out this file was omitted, so don't pull it back
# in as unexecuted.
continue
self.data.touch_file(py_file)
self._measured = False |
def analysis(self, morf):
"""Like `analysis2` but doesn't return excluded line numbers."""
f, s, _, m, mf = self.analysis2(morf)
return f, s, m, mf |
def analysis2(self, morf):
"""Analyze a module.
`morf` is a module or a filename. It will be analyzed to determine
its coverage statistics. The return value is a 5-tuple:
* The filename for the module.
* A list of line numbers of executable statements.
* A list of line numbers of excluded statements.
* A list of line numbers of statements not run (missing from
execution).
* A readable formatted string of the missing line numbers.
The analysis uses the source file itself and the current measured
coverage data.
"""
analysis = self._analyze(morf)
return (
analysis.filename,
sorted(analysis.statements),
sorted(analysis.excluded),
sorted(analysis.missing),
analysis.missing_formatted(),
) |
def _analyze(self, it):
"""Analyze a single morf or code unit.
Returns an `Analysis` object.
"""
self._harvest_data()
if not isinstance(it, CodeUnit):
it = code_unit_factory(it, self.file_locator)[0]
return Analysis(self, it) |
def report(self, morfs=None, show_missing=True, ignore_errors=None,
file=None, # pylint: disable=W0622
omit=None, include=None
):
"""Write a summary report to `file`.
Each module in `morfs` is listed, with counts of statements, executed
statements, missing statements, and a list of lines missed.
`include` is a list of filename patterns. Modules whose filenames
match those patterns will be included in the report. Modules matching
`omit` will not be included in the report.
Returns a float, the total percentage covered.
"""
self._harvest_data()
self.config.from_args(
ignore_errors=ignore_errors, omit=omit, include=include,
show_missing=show_missing,
)
reporter = SummaryReporter(self, self.config)
return reporter.report(morfs, outfile=file) |
def annotate(self, morfs=None, directory=None, ignore_errors=None,
omit=None, include=None):
"""Annotate a list of modules.
Each module in `morfs` is annotated. The source is written to a new
file, named with a ",cover" suffix, with each line prefixed with a
marker to indicate the coverage of the line. Covered lines have ">",
excluded lines have "-", and missing lines have "!".
See `coverage.report()` for other arguments.
"""
self._harvest_data()
self.config.from_args(
ignore_errors=ignore_errors, omit=omit, include=include
)
reporter = AnnotateReporter(self, self.config)
reporter.report(morfs, directory=directory) |
def html_report(self, morfs=None, directory=None, ignore_errors=None,
omit=None, include=None, extra_css=None, title=None):
"""Generate an HTML report.
The HTML is written to `directory`. The file "index.html" is the
overview starting point, with links to more detailed pages for
individual modules.
`extra_css` is a path to a file of other CSS to apply on the page.
It will be copied into the HTML directory.
`title` is a text string (not HTML) to use as the title of the HTML
report.
See `coverage.report()` for other arguments.
Returns a float, the total percentage covered.
"""
self._harvest_data()
self.config.from_args(
ignore_errors=ignore_errors, omit=omit, include=include,
html_dir=directory, extra_css=extra_css, html_title=title,
)
reporter = HtmlReporter(self, self.config)
return reporter.report(morfs) |
def xml_report(self, morfs=None, outfile=None, ignore_errors=None,
omit=None, include=None):
"""Generate an XML report of coverage results.
The report is compatible with Cobertura reports.
Each module in `morfs` is included in the report. `outfile` is the
path to write the file to, "-" will write to stdout.
See `coverage.report()` for other arguments.
Returns a float, the total percentage covered.
"""
self._harvest_data()
self.config.from_args(
ignore_errors=ignore_errors, omit=omit, include=include,
xml_output=outfile,
)
file_to_close = None
delete_file = False
if self.config.xml_output:
if self.config.xml_output == '-':
outfile = sys.stdout
else:
outfile = open(self.config.xml_output, "w")
file_to_close = outfile
try:
try:
reporter = XmlReporter(self, self.config)
return reporter.report(morfs, outfile=outfile)
except CoverageException:
delete_file = True
raise
finally:
if file_to_close:
file_to_close.close()
if delete_file:
file_be_gone(self.config.xml_output) |
def sysinfo(self):
"""Return a list of (key, value) pairs showing internal information."""
import coverage as covmod
import platform, re
try:
implementation = platform.python_implementation()
except AttributeError:
implementation = "unknown"
info = [
('version', covmod.__version__),
('coverage', covmod.__file__),
('cover_dir', self.cover_dir),
('pylib_dirs', self.pylib_dirs),
('tracer', self.collector.tracer_name()),
('config_files', self.config.attempted_config_files),
('configs_read', self.config.config_files),
('data_path', self.data.filename),
('python', sys.version.replace('\n', '')),
('platform', platform.platform()),
('implementation', implementation),
('executable', sys.executable),
('cwd', os.getcwd()),
('path', sys.path),
('environment', sorted([
("%s = %s" % (k, v)) for k, v in iitems(os.environ)
if re.search(r"^COV|^PY", k)
])),
('command_line', " ".join(getattr(sys, 'argv', ['???']))),
]
if self.source_match:
info.append(('source_match', self.source_match.info()))
if self.include_match:
info.append(('include_match', self.include_match.info()))
if self.omit_match:
info.append(('omit_match', self.omit_match.info()))
if self.cover_match:
info.append(('cover_match', self.cover_match.info()))
if self.pylib_match:
info.append(('pylib_match', self.pylib_match.info()))
return info |
def display(*objs, **kwargs):
"""Display a Python object in all frontends.
By default all representations will be computed and sent to the frontends.
Frontends can decide which representation is used and how.
Parameters
----------
objs : tuple of objects
The Python objects to display.
include : list or tuple, optional
A list of format type strings (MIME types) to include in the
format data dict. If this is set *only* the format types included
in this list will be computed.
exclude : list or tuple, optional
A list of format type string (MIME types) to exclue in the format
data dict. If this is set all format types will be computed,
except for those included in this argument.
"""
include = kwargs.get('include')
exclude = kwargs.get('exclude')
from IPython.core.interactiveshell import InteractiveShell
inst = InteractiveShell.instance()
format = inst.display_formatter.format
publish = inst.display_pub.publish
for obj in objs:
format_dict = format(obj, include=include, exclude=exclude)
publish('IPython.core.display.display', format_dict) |
def display_pretty(*objs, **kwargs):
"""Display the pretty (default) representation of an object.
Parameters
----------
objs : tuple of objects
The Python objects to display, or if raw=True raw text data to
display.
raw : bool
Are the data objects raw data or Python objects that need to be
formatted before display? [default: False]
"""
raw = kwargs.pop('raw',False)
if raw:
for obj in objs:
publish_pretty(obj)
else:
display(*objs, include=['text/plain']) |
def display_html(*objs, **kwargs):
"""Display the HTML representation of an object.
Parameters
----------
objs : tuple of objects
The Python objects to display, or if raw=True raw HTML data to
display.
raw : bool
Are the data objects raw data or Python objects that need to be
formatted before display? [default: False]
"""
raw = kwargs.pop('raw',False)
if raw:
for obj in objs:
publish_html(obj)
else:
display(*objs, include=['text/plain','text/html']) |
def display_svg(*objs, **kwargs):
"""Display the SVG representation of an object.
Parameters
----------
objs : tuple of objects
The Python objects to display, or if raw=True raw svg data to
display.
raw : bool
Are the data objects raw data or Python objects that need to be
formatted before display? [default: False]
"""
raw = kwargs.pop('raw',False)
if raw:
for obj in objs:
publish_svg(obj)
else:
display(*objs, include=['text/plain','image/svg+xml']) |
def display_png(*objs, **kwargs):
"""Display the PNG representation of an object.
Parameters
----------
objs : tuple of objects
The Python objects to display, or if raw=True raw png data to
display.
raw : bool
Are the data objects raw data or Python objects that need to be
formatted before display? [default: False]
"""
raw = kwargs.pop('raw',False)
if raw:
for obj in objs:
publish_png(obj)
else:
display(*objs, include=['text/plain','image/png']) |
def display_jpeg(*objs, **kwargs):
"""Display the JPEG representation of an object.
Parameters
----------
objs : tuple of objects
The Python objects to display, or if raw=True raw JPEG data to
display.
raw : bool
Are the data objects raw data or Python objects that need to be
formatted before display? [default: False]
"""
raw = kwargs.pop('raw',False)
if raw:
for obj in objs:
publish_jpeg(obj)
else:
display(*objs, include=['text/plain','image/jpeg']) |
def display_latex(*objs, **kwargs):
"""Display the LaTeX representation of an object.
Parameters
----------
objs : tuple of objects
The Python objects to display, or if raw=True raw latex data to
display.
raw : bool
Are the data objects raw data or Python objects that need to be
formatted before display? [default: False]
"""
raw = kwargs.pop('raw',False)
if raw:
for obj in objs:
publish_latex(obj)
else:
display(*objs, include=['text/plain','text/latex']) |
def display_json(*objs, **kwargs):
"""Display the JSON representation of an object.
Note that not many frontends support displaying JSON.
Parameters
----------
objs : tuple of objects
The Python objects to display, or if raw=True raw json data to
display.
raw : bool
Are the data objects raw data or Python objects that need to be
formatted before display? [default: False]
"""
raw = kwargs.pop('raw',False)
if raw:
for obj in objs:
publish_json(obj)
else:
display(*objs, include=['text/plain','application/json']) |
def display_javascript(*objs, **kwargs):
"""Display the Javascript representation of an object.
Parameters
----------
objs : tuple of objects
The Python objects to display, or if raw=True raw javascript data to
display.
raw : bool
Are the data objects raw data or Python objects that need to be
formatted before display? [default: False]
"""
raw = kwargs.pop('raw',False)
if raw:
for obj in objs:
publish_javascript(obj)
else:
display(*objs, include=['text/plain','application/javascript']) |
def clear_output(stdout=True, stderr=True, other=True):
"""Clear the output of the current cell receiving output.
Optionally, each of stdout/stderr or other non-stream data (e.g. anything
produced by display()) can be excluded from the clear event.
By default, everything is cleared.
Parameters
----------
stdout : bool [default: True]
Whether to clear stdout.
stderr : bool [default: True]
Whether to clear stderr.
other : bool [default: True]
Whether to clear everything else that is not stdout/stderr
(e.g. figures,images,HTML, any result of display()).
"""
from IPython.core.interactiveshell import InteractiveShell
if InteractiveShell.initialized():
InteractiveShell.instance().display_pub.clear_output(
stdout=stdout, stderr=stderr, other=other,
)
else:
from IPython.utils import io
if stdout:
print('\033[2K\r', file=io.stdout, end='')
io.stdout.flush()
if stderr:
print('\033[2K\r', file=io.stderr, end='')
io.stderr.flush() |
def reload(self):
"""Reload the raw data from file or URL."""
if self.filename is not None:
with open(self.filename, self._read_flags) as f:
self.data = f.read()
elif self.url is not None:
try:
import urllib2
response = urllib2.urlopen(self.url)
self.data = response.read()
# extract encoding from header, if there is one:
encoding = None
for sub in response.headers['content-type'].split(';'):
sub = sub.strip()
if sub.startswith('charset'):
encoding = sub.split('=')[-1].strip()
break
# decode data, if an encoding was specified
if encoding:
self.data = self.data.decode(encoding, 'replace')
except:
self.data = None |
def pip_version_check(session):
"""Check for an update for pip.
Limit the frequency of checks to once per week. State is stored either in
the active virtualenv or in the user's USER_CACHE_DIR keyed off the prefix
of the pip script path.
"""
import pip # imported here to prevent circular imports
pypi_version = None
try:
state = load_selfcheck_statefile()
current_time = datetime.datetime.utcnow()
# Determine if we need to refresh the state
if "last_check" in state.state and "pypi_version" in state.state:
last_check = datetime.datetime.strptime(
state.state["last_check"],
SELFCHECK_DATE_FMT
)
if total_seconds(current_time - last_check) < 7 * 24 * 60 * 60:
pypi_version = state.state["pypi_version"]
# Refresh the version if we need to or just see if we need to warn
if pypi_version is None:
resp = session.get(
PyPI.pip_json_url,
headers={"Accept": "application/json"},
)
resp.raise_for_status()
pypi_version = resp.json()["info"]["version"]
# save that we've performed a check
state.save(pypi_version, current_time)
pip_version = pkg_resources.parse_version(pip.__version__)
# Determine if our pypi_version is older
if pip_version < pkg_resources.parse_version(pypi_version):
logger.warning(
"You are using pip version %s, however version %s is "
"available.\nYou should consider upgrading via the "
"'pip install --upgrade pip' command." % (pip.__version__,
pypi_version)
)
except Exception:
logger.debug(
"There was an error checking the latest version of pip",
exc_info=True,
) |
def _find_cmd(cmd):
"""Find the full path to a command using which."""
path = sp.Popen(['/usr/bin/env', 'which', cmd],
stdout=sp.PIPE, stderr=sp.PIPE).communicate()[0]
return py3compat.bytes_to_str(path) |
def getoutput_pexpect(self, cmd):
"""Run a command and return its stdout/stderr as a string.
Parameters
----------
cmd : str
A command to be executed in the system shell.
Returns
-------
output : str
A string containing the combination of stdout and stderr from the
subprocess, in whatever order the subprocess originally wrote to its
file descriptors (so the order of the information in this string is the
correct order as would be seen if running the command in a terminal).
"""
try:
return pexpect.run(self.sh, args=['-c', cmd]).replace('\r\n', '\n')
except KeyboardInterrupt:
print('^C', file=sys.stderr, end='') |
def system(self, cmd):
"""Execute a command in a subshell.
Parameters
----------
cmd : str
A command to be executed in the system shell.
Returns
-------
int : child's exitstatus
"""
# Get likely encoding for the output.
enc = DEFAULT_ENCODING
# Patterns to match on the output, for pexpect. We read input and
# allow either a short timeout or EOF
patterns = [pexpect.TIMEOUT, pexpect.EOF]
# the index of the EOF pattern in the list.
# even though we know it's 1, this call means we don't have to worry if
# we change the above list, and forget to change this value:
EOF_index = patterns.index(pexpect.EOF)
# The size of the output stored so far in the process output buffer.
# Since pexpect only appends to this buffer, each time we print we
# record how far we've printed, so that next time we only print *new*
# content from the buffer.
out_size = 0
try:
# Since we're not really searching the buffer for text patterns, we
# can set pexpect's search window to be tiny and it won't matter.
# We only search for the 'patterns' timeout or EOF, which aren't in
# the text itself.
#child = pexpect.spawn(pcmd, searchwindowsize=1)
if hasattr(pexpect, 'spawnb'):
child = pexpect.spawnb(self.sh, args=['-c', cmd]) # Pexpect-U
else:
child = pexpect.spawn(self.sh, args=['-c', cmd]) # Vanilla Pexpect
flush = sys.stdout.flush
while True:
# res is the index of the pattern that caused the match, so we
# know whether we've finished (if we matched EOF) or not
res_idx = child.expect_list(patterns, self.read_timeout)
print(child.before[out_size:].decode(enc, 'replace'), end='')
flush()
if res_idx==EOF_index:
break
# Update the pointer to what we've already printed
out_size = len(child.before)
except KeyboardInterrupt:
# We need to send ^C to the process. The ascii code for '^C' is 3
# (the character is known as ETX for 'End of Text', see
# curses.ascii.ETX).
child.sendline(chr(3))
# Read and print any more output the program might produce on its
# way out.
try:
out_size = len(child.before)
child.expect_list(patterns, self.terminate_timeout)
print(child.before[out_size:].decode(enc, 'replace'), end='')
sys.stdout.flush()
except KeyboardInterrupt:
# Impatient users tend to type it multiple times
pass
finally:
# Ensure the subprocess really is terminated
child.terminate(force=True)
# add isalive check, to ensure exitstatus is set:
child.isalive()
return child.exitstatus |
def forward_read_events(fd, context=None):
"""Forward read events from an FD over a socket.
This method wraps a file in a socket pair, so it can
be polled for read events by select (specifically zmq.eventloop.ioloop)
"""
if context is None:
context = zmq.Context.instance()
push = context.socket(zmq.PUSH)
push.setsockopt(zmq.LINGER, -1)
pull = context.socket(zmq.PULL)
addr='inproc://%s'%uuid.uuid4()
push.bind(addr)
pull.connect(addr)
forwarder = ForwarderThread(push, fd)
forwarder.start()
return pull |
def run(self):
"""Loop through lines in self.fd, and send them over self.sock."""
line = self.fd.readline()
# allow for files opened in unicode mode
if isinstance(line, unicode):
send = self.sock.send_unicode
else:
send = self.sock.send
while line:
send(line)
line = self.fd.readline()
# line == '' means EOF
self.fd.close()
self.sock.close() |
def find_launcher_class(clsname, kind):
"""Return a launcher for a given clsname and kind.
Parameters
==========
clsname : str
The full name of the launcher class, either with or without the
module path, or an abbreviation (MPI, SSH, SGE, PBS, LSF,
WindowsHPC).
kind : str
Either 'EngineSet' or 'Controller'.
"""
if '.' not in clsname:
# not a module, presume it's the raw name in apps.launcher
if kind and kind not in clsname:
# doesn't match necessary full class name, assume it's
# just 'PBS' or 'MPI' prefix:
clsname = clsname + kind + 'Launcher'
clsname = 'IPython.parallel.apps.launcher.'+clsname
klass = import_item(clsname)
return klass |
def start(self):
"""Start the app for the stop subcommand."""
try:
pid = self.get_pid_from_file()
except PIDFileError:
self.log.critical(
'Could not read pid file, cluster is probably not running.'
)
# Here I exit with a unusual exit status that other processes
# can watch for to learn how I existed.
self.remove_pid_file()
self.exit(ALREADY_STOPPED)
if not self.check_pid(pid):
self.log.critical(
'Cluster [pid=%r] is not running.' % pid
)
self.remove_pid_file()
# Here I exit with a unusual exit status that other processes
# can watch for to learn how I existed.
self.exit(ALREADY_STOPPED)
elif os.name=='posix':
sig = self.signal
self.log.info(
"Stopping cluster [pid=%r] with [signal=%r]" % (pid, sig)
)
try:
os.kill(pid, sig)
except OSError:
self.log.error("Stopping cluster failed, assuming already dead.",
exc_info=True)
self.remove_pid_file()
elif os.name=='nt':
try:
# kill the whole tree
p = check_call(['taskkill', '-pid', str(pid), '-t', '-f'], stdout=PIPE,stderr=PIPE)
except (CalledProcessError, OSError):
self.log.error("Stopping cluster failed, assuming already dead.",
exc_info=True)
self.remove_pid_file() |
def build_launcher(self, clsname, kind=None):
"""import and instantiate a Launcher based on importstring"""
try:
klass = find_launcher_class(clsname, kind)
except (ImportError, KeyError):
self.log.fatal("Could not import launcher class: %r"%clsname)
self.exit(1)
launcher = klass(
work_dir=u'.', config=self.config, log=self.log,
profile_dir=self.profile_dir.location, cluster_id=self.cluster_id,
)
return launcher |
def start(self):
"""Start the app for the engines subcommand."""
self.log.info("IPython cluster: started")
# First see if the cluster is already running
# Now log and daemonize
self.log.info(
'Starting engines with [daemon=%r]' % self.daemonize
)
# TODO: Get daemonize working on Windows or as a Windows Server.
if self.daemonize:
if os.name=='posix':
daemonize()
dc = ioloop.DelayedCallback(self.start_engines, 0, self.loop)
dc.start()
# Now write the new pid file AFTER our new forked pid is active.
# self.write_pid_file()
try:
self.loop.start()
except KeyboardInterrupt:
pass
except zmq.ZMQError as e:
if e.errno == errno.EINTR:
pass
else:
raise |
def start(self):
"""Start the app for the start subcommand."""
# First see if the cluster is already running
try:
pid = self.get_pid_from_file()
except PIDFileError:
pass
else:
if self.check_pid(pid):
self.log.critical(
'Cluster is already running with [pid=%s]. '
'use "ipcluster stop" to stop the cluster.' % pid
)
# Here I exit with a unusual exit status that other processes
# can watch for to learn how I existed.
self.exit(ALREADY_STARTED)
else:
self.remove_pid_file()
# Now log and daemonize
self.log.info(
'Starting ipcluster with [daemon=%r]' % self.daemonize
)
# TODO: Get daemonize working on Windows or as a Windows Server.
if self.daemonize:
if os.name=='posix':
daemonize()
dc = ioloop.DelayedCallback(self.start_controller, 0, self.loop)
dc.start()
dc = ioloop.DelayedCallback(self.start_engines, 1000*self.delay, self.loop)
dc.start()
# Now write the new pid file AFTER our new forked pid is active.
self.write_pid_file()
try:
self.loop.start()
except KeyboardInterrupt:
pass
except zmq.ZMQError as e:
if e.errno == errno.EINTR:
pass
else:
raise
finally:
self.remove_pid_file() |
def get_app_wx(*args, **kwargs):
"""Create a new wx app or return an exiting one."""
import wx
app = wx.GetApp()
if app is None:
if not kwargs.has_key('redirect'):
kwargs['redirect'] = False
app = wx.PySimpleApp(*args, **kwargs)
return app |
def is_event_loop_running_wx(app=None):
"""Is the wx event loop running."""
if app is None:
app = get_app_wx()
if hasattr(app, '_in_event_loop'):
return app._in_event_loop
else:
return app.IsMainLoopRunning() |
def start_event_loop_wx(app=None):
"""Start the wx event loop in a consistent manner."""
if app is None:
app = get_app_wx()
if not is_event_loop_running_wx(app):
app._in_event_loop = True
app.MainLoop()
app._in_event_loop = False
else:
app._in_event_loop = True |
def get_app_qt4(*args, **kwargs):
"""Create a new qt4 app or return an existing one."""
from IPython.external.qt_for_kernel import QtGui
app = QtGui.QApplication.instance()
if app is None:
if not args:
args = ([''],)
app = QtGui.QApplication(*args, **kwargs)
return app |
def is_event_loop_running_qt4(app=None):
"""Is the qt4 event loop running."""
if app is None:
app = get_app_qt4([''])
if hasattr(app, '_in_event_loop'):
return app._in_event_loop
else:
# Does qt4 provide a other way to detect this?
return False |
def start_event_loop_qt4(app=None):
"""Start the qt4 event loop in a consistent manner."""
if app is None:
app = get_app_qt4([''])
if not is_event_loop_running_qt4(app):
app._in_event_loop = True
app.exec_()
app._in_event_loop = False
else:
app._in_event_loop = True |
def check_package(self, package, package_dir):
"""Check namespace packages' __init__ for declare_namespace"""
try:
return self.packages_checked[package]
except KeyError:
pass
init_py = _build_py.check_package(self, package, package_dir)
self.packages_checked[package] = init_py
if not init_py or not self.distribution.namespace_packages:
return init_py
for pkg in self.distribution.namespace_packages:
if pkg==package or pkg.startswith(package+'.'):
break
else:
return init_py
f = open(init_py,'rbU')
if 'declare_namespace'.encode() not in f.read():
from distutils import log
log.warn(
"WARNING: %s is a namespace package, but its __init__.py does\n"
"not declare_namespace(); setuptools 0.7 will REQUIRE this!\n"
'(See the setuptools manual under "Namespace Packages" for '
"details.)\n", package
)
f.close()
return init_py |
def blank_canvas(width, height):
"""Return a blank canvas to annotate.
:param width: xdim (int)
:param height: ydim (int)
:returns: :class:`jicbioimage.illustrate.Canvas`
"""
canvas = np.zeros((height, width, 3), dtype=np.uint8)
return canvas.view(Canvas) |
def draw_cross(self, position, color=(255, 0, 0), radius=4):
"""Draw a cross on the canvas.
:param position: (row, col) tuple
:param color: RGB tuple
:param radius: radius of the cross (int)
"""
y, x = position
for xmod in np.arange(-radius, radius+1, 1):
xpos = x + xmod
if xpos < 0:
continue # Negative indices will draw on the opposite side.
if xpos >= self.shape[1]:
continue # Out of bounds.
self[int(y), int(xpos)] = color
for ymod in np.arange(-radius, radius+1, 1):
ypos = y + ymod
if ypos < 0:
continue # Negative indices will draw on the opposite side.
if ypos >= self.shape[0]:
continue # Out of bounds.
self[int(ypos), int(x)] = color |
def draw_line(self, pos1, pos2, color=(255, 0, 0)):
"""Draw a line between pos1 and pos2 on the canvas.
:param pos1: position 1 (row, col) tuple
:param pos2: position 2 (row, col) tuple
:param color: RGB tuple
"""
r1, c1 = tuple([int(round(i, 0)) for i in pos1])
r2, c2 = tuple([int(round(i, 0)) for i in pos2])
rr, cc = skimage.draw.line(r1, c1, r2, c2)
self[rr, cc] = color |
def text_at(self, text, position, color=(255, 255, 255),
size=12, antialias=False, center=False):
"""Write text at x, y top left corner position.
By default the x and y coordinates represent the top left hand corner
of the text. The text can be centered vertically and horizontally by
using setting the ``center`` option to ``True``.
:param text: text to write
:param position: (row, col) tuple
:param color: RGB tuple
:param size: font size
:param antialias: whether or not the text should be antialiased
:param center: whether or not the text should be centered on the
input coordinate
"""
def antialias_value(value, normalisation):
return int(round(value * normalisation))
def antialias_rgb(color, normalisation):
return tuple([antialias_value(v, normalisation) for v in color])
def set_color(xpos, ypos, color):
try:
self[ypos, xpos] = color
except IndexError:
pass
y, x = position
font = PIL.ImageFont.truetype(DEFAULT_FONT_PATH, size=size)
mask = font.getmask(text)
width, height = mask.size
if center:
x = x - (width // 2)
y = y - (height // 2)
for ystep in range(height):
for xstep in range(width):
normalisation = mask[ystep * width + xstep] / 255.
if antialias:
if normalisation != 0:
rgb_color = antialias_rgb(color, normalisation)
set_color(x + xstep, y+ystep, rgb_color)
else:
if normalisation > .5:
set_color(x + xstep, y + ystep, color) |
def from_grayscale(im, channels_on=(True, True, True)):
"""Return a canvas from a grayscale image.
:param im: single channel image
:channels_on: channels to populate with input image
:returns: :class:`jicbioimage.illustrate.Canvas`
"""
xdim, ydim = im.shape
canvas = np.zeros((xdim, ydim, 3), dtype=np.uint8)
for i, include in enumerate(channels_on):
if include:
canvas[:, :, i] = im
return canvas.view(AnnotatedImage) |
def get_uuid(length=32, version=1):
"""
Returns a unique ID of a given length.
User `version=2` for cross-systems uniqueness.
"""
if version == 1:
return uuid.uuid1().hex[:length]
else:
return uuid.uuid4().hex[:length] |
def get_dict_to_encoded_url(data):
"""
Converts a dict to an encoded URL.
Example: given data = {'a': 1, 'b': 2}, it returns 'a=1&b=2'
"""
unicode_data = dict([(k, smart_str(v)) for k, v in data.items()])
encoded = urllib.urlencode(unicode_data)
return encoded |
def get_encoded_url_to_dict(string):
"""
Converts an encoded URL to a dict.
Example: given string = 'a=1&b=2' it returns {'a': 1, 'b': 2}
"""
data = urllib.parse.parse_qsl(string, keep_blank_values=True)
data = dict(data)
return data |
def get_unique_key_from_get(get_dict):
"""
Build a unique key from get data
"""
site = Site.objects.get_current()
key = get_dict_to_encoded_url(get_dict)
cache_key = '{}_{}'.format(site.domain, key)
return hashlib.md5(cache_key).hexdigest() |
def tobin(deci_num, len=32):
"""
Given a decimal number, returns a string bitfield of length = len
Example: given deci_num = 1 and len = 10, it return 0000000001
"""
bitstr = "".join(map(lambda y: str((deci_num >> y) & 1), range(len - 1, -1, -1)))
return bitstr |
def is_valid_email(email):
"""
Validates and email address.
Note: valid emails must follow the <name>@<domain><.extension> patterns.
"""
try:
validate_email(email)
except ValidationError:
return False
if simple_email_re.match(email):
return True
return False |
def get_domain(url):
""" Returns domain name portion of a URL """
if 'http' not in url.lower():
url = 'http://{}'.format(url)
return urllib.parse.urlparse(url).hostname |
def get_url_args(url):
""" Returns a dictionary from a URL params """
url_data = urllib.parse.urlparse(url)
arg_dict = urllib.parse.parse_qs(url_data.query)
return arg_dict |
def learn(env,
network,
seed=None,
lr=5e-4,
total_timesteps=100000,
buffer_size=50000,
exploration_fraction=0.1,
exploration_final_eps=0.02,
train_freq=1,
batch_size=32,
print_freq=100,
checkpoint_freq=10000,
checkpoint_path=None,
learning_starts=1000,
gamma=1.0,
target_network_update_freq=500,
prioritized_replay=False,
prioritized_replay_alpha=0.6,
prioritized_replay_beta0=0.4,
prioritized_replay_beta_iters=None,
prioritized_replay_eps=1e-6,
param_noise=False,
callback=None,
load_path=None,
**network_kwargs
):
"""Train a deepq model.
Parameters
-------
env: gym.Env
environment to train on
network: string or a function
neural network to use as a q function approximator. If string, has to be one of the names of registered models in baselines.common.models
(mlp, cnn, conv_only). If a function, should take an observation tensor and return a latent variable tensor, which
will be mapped to the Q function heads (see build_q_func in baselines.deepq.models for details on that)
seed: int or None
prng seed. The runs with the same seed "should" give the same results. If None, no seeding is used.
lr: float
learning rate for adam optimizer
total_timesteps: int
number of env steps to optimizer for
buffer_size: int
size of the replay buffer
exploration_fraction: float
fraction of entire training period over which the exploration rate is annealed
exploration_final_eps: float
final value of random action probability
train_freq: int
update the model every `train_freq` steps.
set to None to disable printing
batch_size: int
size of a batched sampled from replay buffer for training
print_freq: int
how often to print out training progress
set to None to disable printing
checkpoint_freq: int
how often to save the model. This is so that the best version is restored
at the end of the training. If you do not wish to restore the best version at
the end of the training set this variable to None.
learning_starts: int
how many steps of the model to collect transitions for before learning starts
gamma: float
discount factor
target_network_update_freq: int
update the target network every `target_network_update_freq` steps.
prioritized_replay: True
if True prioritized replay buffer will be used.
prioritized_replay_alpha: float
alpha parameter for prioritized replay buffer
prioritized_replay_beta0: float
initial value of beta for prioritized replay buffer
prioritized_replay_beta_iters: int
number of iterations over which beta will be annealed from initial value
to 1.0. If set to None equals to total_timesteps.
prioritized_replay_eps: float
epsilon to add to the TD errors when updating priorities.
param_noise: bool
whether or not to use parameter space noise (https://arxiv.org/abs/1706.01905)
callback: (locals, globals) -> None
function called at every steps with state of the algorithm.
If callback returns true training stops.
load_path: str
path to load the model from. (default: None)
**network_kwargs
additional keyword arguments to pass to the network builder.
Returns
-------
act: ActWrapper
Wrapper over act function. Adds ability to save it and load it.
See header of baselines/deepq/categorical.py for details on the act function.
"""
# Create all the functions necessary to train the model
sess = get_session()
set_global_seeds(seed)
q_func = build_q_func(network, **network_kwargs)
# capture the shape outside the closure so that the env object is not serialized
# by cloudpickle when serializing make_obs_ph
observation_space = env.observation_space
def make_obs_ph(name):
return ObservationInput(observation_space, name=name)
act, train, update_target, debug = deepq.build_train(
make_obs_ph=make_obs_ph,
q_func=q_func,
num_actions=env.action_space.n,
optimizer=tf.train.AdamOptimizer(learning_rate=lr),
gamma=gamma,
grad_norm_clipping=10,
param_noise=param_noise
)
act_params = {
'make_obs_ph': make_obs_ph,
'q_func': q_func,
'num_actions': env.action_space.n,
}
act = ActWrapper(act, act_params)
# Create the replay buffer
if prioritized_replay:
replay_buffer = PrioritizedReplayBuffer(buffer_size, alpha=prioritized_replay_alpha)
if prioritized_replay_beta_iters is None:
prioritized_replay_beta_iters = total_timesteps
beta_schedule = LinearSchedule(prioritized_replay_beta_iters,
initial_p=prioritized_replay_beta0,
final_p=1.0)
else:
replay_buffer = ReplayBuffer(buffer_size)
beta_schedule = None
# Create the schedule for exploration starting from 1.
exploration = LinearSchedule(schedule_timesteps=int(exploration_fraction * total_timesteps),
initial_p=1.0,
final_p=exploration_final_eps)
# Initialize the parameters and copy them to the target network.
U.initialize()
update_target()
episode_rewards = [0.0]
saved_mean_reward = None
obs = env.reset()
reset = True
with tempfile.TemporaryDirectory() as td:
td = checkpoint_path or td
model_file = os.path.join(td, "model")
model_saved = False
if tf.train.latest_checkpoint(td) is not None:
load_variables(model_file)
logger.log('Loaded model from {}'.format(model_file))
model_saved = True
elif load_path is not None:
load_variables(load_path)
logger.log('Loaded model from {}'.format(load_path))
for t in range(total_timesteps):
if callback is not None:
if callback(locals(), globals()):
break
# Take action and update exploration to the newest value
kwargs = {}
if not param_noise:
update_eps = exploration.value(t)
update_param_noise_threshold = 0.
else:
update_eps = 0.
# Compute the threshold such that the KL divergence between perturbed and non-perturbed
# policy is comparable to eps-greedy exploration with eps = exploration.value(t).
# See Appendix C.1 in Parameter Space Noise for Exploration, Plappert et al., 2017
# for detailed explanation.
update_param_noise_threshold = -np.log(1. - exploration.value(t) + exploration.value(t) / float(env.action_space.n))
kwargs['reset'] = reset
kwargs['update_param_noise_threshold'] = update_param_noise_threshold
kwargs['update_param_noise_scale'] = True
action = act(np.array(obs)[None], update_eps=update_eps, **kwargs)[0]
env_action = action
reset = False
new_obs, rew, done, _ = env.step(env_action)
# Store transition in the replay buffer.
replay_buffer.add(obs, action, rew, new_obs, float(done))
obs = new_obs
episode_rewards[-1] += rew
if done:
obs = env.reset()
episode_rewards.append(0.0)
reset = True
if t > learning_starts and t % train_freq == 0:
# Minimize the error in Bellman's equation on a batch sampled from replay buffer.
if prioritized_replay:
experience = replay_buffer.sample(batch_size, beta=beta_schedule.value(t))
(obses_t, actions, rewards, obses_tp1, dones, weights, batch_idxes) = experience
else:
obses_t, actions, rewards, obses_tp1, dones = replay_buffer.sample(batch_size)
weights, batch_idxes = np.ones_like(rewards), None
td_errors = train(obses_t, actions, rewards, obses_tp1, dones, weights)
if prioritized_replay:
new_priorities = np.abs(td_errors) + prioritized_replay_eps
replay_buffer.update_priorities(batch_idxes, new_priorities)
if t > learning_starts and t % target_network_update_freq == 0:
# Update target network periodically.
update_target()
mean_100ep_reward = round(np.mean(episode_rewards[-101:-1]), 1)
num_episodes = len(episode_rewards)
if done and print_freq is not None and len(episode_rewards) % print_freq == 0:
logger.record_tabular("steps", t)
logger.record_tabular("episodes", num_episodes)
logger.record_tabular("mean 100 episode reward", mean_100ep_reward)
logger.record_tabular("% time spent exploring", int(100 * exploration.value(t)))
logger.dump_tabular()
if (checkpoint_freq is not None and t > learning_starts and
num_episodes > 100 and t % checkpoint_freq == 0):
if saved_mean_reward is None or mean_100ep_reward > saved_mean_reward:
if print_freq is not None:
logger.log("Saving model due to mean reward increase: {} -> {}".format(
saved_mean_reward, mean_100ep_reward))
save_variables(model_file)
model_saved = True
saved_mean_reward = mean_100ep_reward
if model_saved:
if print_freq is not None:
logger.log("Restored model with mean reward: {}".format(saved_mean_reward))
load_variables(model_file)
return act |
def save_act(self, path=None):
"""Save model to a pickle located at `path`"""
if path is None:
path = os.path.join(logger.get_dir(), "model.pkl")
with tempfile.TemporaryDirectory() as td:
save_variables(os.path.join(td, "model"))
arc_name = os.path.join(td, "packed.zip")
with zipfile.ZipFile(arc_name, 'w') as zipf:
for root, dirs, files in os.walk(td):
for fname in files:
file_path = os.path.join(root, fname)
if file_path != arc_name:
zipf.write(file_path, os.path.relpath(file_path, td))
with open(arc_name, "rb") as f:
model_data = f.read()
with open(path, "wb") as f:
cloudpickle.dump((model_data, self._act_params), f) |
def nature_cnn(unscaled_images, **conv_kwargs):
"""
CNN from Nature paper.
"""
scaled_images = tf.cast(unscaled_images, tf.float32) / 255.
activ = tf.nn.relu
h = activ(conv(scaled_images, 'c1', nf=32, rf=8, stride=4, init_scale=np.sqrt(2),
**conv_kwargs))
h2 = activ(conv(h, 'c2', nf=64, rf=4, stride=2, init_scale=np.sqrt(2), **conv_kwargs))
h3 = activ(conv(h2, 'c3', nf=64, rf=3, stride=1, init_scale=np.sqrt(2), **conv_kwargs))
h3 = conv_to_fc(h3)
return activ(fc(h3, 'fc1', nh=512, init_scale=np.sqrt(2))) |
def mlp(num_layers=2, num_hidden=64, activation=tf.tanh, layer_norm=False):
"""
Stack of fully-connected layers to be used in a policy / q-function approximator
Parameters:
----------
num_layers: int number of fully-connected layers (default: 2)
num_hidden: int size of fully-connected layers (default: 64)
activation: activation function (default: tf.tanh)
Returns:
-------
function that builds fully connected network with a given input tensor / placeholder
"""
def network_fn(X):
h = tf.layers.flatten(X)
for i in range(num_layers):
h = fc(h, 'mlp_fc{}'.format(i), nh=num_hidden, init_scale=np.sqrt(2))
if layer_norm:
h = tf.contrib.layers.layer_norm(h, center=True, scale=True)
h = activation(h)
return h
return network_fn |
def lstm(nlstm=128, layer_norm=False):
"""
Builds LSTM (Long-Short Term Memory) network to be used in a policy.
Note that the resulting function returns not only the output of the LSTM
(i.e. hidden state of lstm for each step in the sequence), but also a dictionary
with auxiliary tensors to be set as policy attributes.
Specifically,
S is a placeholder to feed current state (LSTM state has to be managed outside policy)
M is a placeholder for the mask (used to mask out observations after the end of the episode, but can be used for other purposes too)
initial_state is a numpy array containing initial lstm state (usually zeros)
state is the output LSTM state (to be fed into S at the next call)
An example of usage of lstm-based policy can be found here: common/tests/test_doc_examples.py/test_lstm_example
Parameters:
----------
nlstm: int LSTM hidden state size
layer_norm: bool if True, layer-normalized version of LSTM is used
Returns:
-------
function that builds LSTM with a given input tensor / placeholder
"""
def network_fn(X, nenv=1):
nbatch = X.shape[0]
nsteps = nbatch // nenv
h = tf.layers.flatten(X)
M = tf.placeholder(tf.float32, [nbatch]) #mask (done t-1)
S = tf.placeholder(tf.float32, [nenv, 2*nlstm]) #states
xs = batch_to_seq(h, nenv, nsteps)
ms = batch_to_seq(M, nenv, nsteps)
if layer_norm:
h5, snew = utils.lnlstm(xs, ms, S, scope='lnlstm', nh=nlstm)
else:
h5, snew = utils.lstm(xs, ms, S, scope='lstm', nh=nlstm)
h = seq_to_batch(h5)
initial_state = np.zeros(S.shape.as_list(), dtype=float)
return h, {'S':S, 'M':M, 'state':snew, 'initial_state':initial_state}
return network_fn |
def conv_only(convs=[(32, 8, 4), (64, 4, 2), (64, 3, 1)], **conv_kwargs):
'''
convolutions-only net
Parameters:
----------
conv: list of triples (filter_number, filter_size, stride) specifying parameters for each layer.
Returns:
function that takes tensorflow tensor as input and returns the output of the last convolutional layer
'''
def network_fn(X):
out = tf.cast(X, tf.float32) / 255.
with tf.variable_scope("convnet"):
for num_outputs, kernel_size, stride in convs:
out = layers.convolution2d(out,
num_outputs=num_outputs,
kernel_size=kernel_size,
stride=stride,
activation_fn=tf.nn.relu,
**conv_kwargs)
return out
return network_fn |
def get_network_builder(name):
"""
If you want to register your own network outside models.py, you just need:
Usage Example:
-------------
from baselines.common.models import register
@register("your_network_name")
def your_network_define(**net_kwargs):
...
return network_fn
"""
if callable(name):
return name
elif name in mapping:
return mapping[name]
else:
raise ValueError('Unknown network type: {}'.format(name)) |
def mlp(hiddens=[], layer_norm=False):
"""This model takes as input an observation and returns values of all actions.
Parameters
----------
hiddens: [int]
list of sizes of hidden layers
layer_norm: bool
if true applies layer normalization for every layer
as described in https://arxiv.org/abs/1607.06450
Returns
-------
q_func: function
q_function for DQN algorithm.
"""
return lambda *args, **kwargs: _mlp(hiddens, layer_norm=layer_norm, *args, **kwargs) |
def cnn_to_mlp(convs, hiddens, dueling=False, layer_norm=False):
"""This model takes as input an observation and returns values of all actions.
Parameters
----------
convs: [(int, int, int)]
list of convolutional layers in form of
(num_outputs, kernel_size, stride)
hiddens: [int]
list of sizes of hidden layers
dueling: bool
if true double the output MLP to compute a baseline
for action scores
layer_norm: bool
if true applies layer normalization for every layer
as described in https://arxiv.org/abs/1607.06450
Returns
-------
q_func: function
q_function for DQN algorithm.
"""
return lambda *args, **kwargs: _cnn_to_mlp(convs, hiddens, dueling, layer_norm=layer_norm, *args, **kwargs) |
def make_vec_env(env_id, env_type, num_env, seed,
wrapper_kwargs=None,
start_index=0,
reward_scale=1.0,
flatten_dict_observations=True,
gamestate=None):
"""
Create a wrapped, monitored SubprocVecEnv for Atari and MuJoCo.
"""
wrapper_kwargs = wrapper_kwargs or {}
mpi_rank = MPI.COMM_WORLD.Get_rank() if MPI else 0
seed = seed + 10000 * mpi_rank if seed is not None else None
logger_dir = logger.get_dir()
def make_thunk(rank):
return lambda: make_env(
env_id=env_id,
env_type=env_type,
mpi_rank=mpi_rank,
subrank=rank,
seed=seed,
reward_scale=reward_scale,
gamestate=gamestate,
flatten_dict_observations=flatten_dict_observations,
wrapper_kwargs=wrapper_kwargs,
logger_dir=logger_dir
)
set_global_seeds(seed)
if num_env > 1:
return SubprocVecEnv([make_thunk(i + start_index) for i in range(num_env)])
else:
return DummyVecEnv([make_thunk(start_index)]) |
def make_mujoco_env(env_id, seed, reward_scale=1.0):
"""
Create a wrapped, monitored gym.Env for MuJoCo.
"""
rank = MPI.COMM_WORLD.Get_rank()
myseed = seed + 1000 * rank if seed is not None else None
set_global_seeds(myseed)
env = gym.make(env_id)
logger_path = None if logger.get_dir() is None else os.path.join(logger.get_dir(), str(rank))
env = Monitor(env, logger_path, allow_early_resets=True)
env.seed(seed)
if reward_scale != 1.0:
from baselines.common.retro_wrappers import RewardScaler
env = RewardScaler(env, reward_scale)
return env |
def make_robotics_env(env_id, seed, rank=0):
"""
Create a wrapped, monitored gym.Env for MuJoCo.
"""
set_global_seeds(seed)
env = gym.make(env_id)
env = FlattenDictWrapper(env, ['observation', 'desired_goal'])
env = Monitor(
env, logger.get_dir() and os.path.join(logger.get_dir(), str(rank)),
info_keywords=('is_success',))
env.seed(seed)
return env |
def common_arg_parser():
"""
Create an argparse.ArgumentParser for run_mujoco.py.
"""
parser = arg_parser()
parser.add_argument('--env', help='environment ID', type=str, default='Reacher-v2')
parser.add_argument('--env_type', help='type of environment, used when the environment type cannot be automatically determined', type=str)
parser.add_argument('--seed', help='RNG seed', type=int, default=None)
parser.add_argument('--alg', help='Algorithm', type=str, default='ppo2')
parser.add_argument('--num_timesteps', type=float, default=1e6),
parser.add_argument('--network', help='network type (mlp, cnn, lstm, cnn_lstm, conv_only)', default=None)
parser.add_argument('--gamestate', help='game state to load (so far only used in retro games)', default=None)
parser.add_argument('--num_env', help='Number of environment copies being run in parallel. When not specified, set to number of cpus for Atari, and to 1 for Mujoco', default=None, type=int)
parser.add_argument('--reward_scale', help='Reward scale factor. Default: 1.0', default=1.0, type=float)
parser.add_argument('--save_path', help='Path to save trained model to', default=None, type=str)
parser.add_argument('--save_video_interval', help='Save video every x steps (0 = disabled)', default=0, type=int)
parser.add_argument('--save_video_length', help='Length of recorded video. Default: 200', default=200, type=int)
parser.add_argument('--play', default=False, action='store_true')
return parser |
def robotics_arg_parser():
"""
Create an argparse.ArgumentParser for run_mujoco.py.
"""
parser = arg_parser()
parser.add_argument('--env', help='environment ID', type=str, default='FetchReach-v0')
parser.add_argument('--seed', help='RNG seed', type=int, default=None)
parser.add_argument('--num-timesteps', type=int, default=int(1e6))
return parser |
def parse_unknown_args(args):
"""
Parse arguments not consumed by arg parser into a dicitonary
"""
retval = {}
preceded_by_key = False
for arg in args:
if arg.startswith('--'):
if '=' in arg:
key = arg.split('=')[0][2:]
value = arg.split('=')[1]
retval[key] = value
else:
key = arg[2:]
preceded_by_key = True
elif preceded_by_key:
retval[key] = arg
preceded_by_key = False
return retval |
def clear_mpi_env_vars():
"""
from mpi4py import MPI will call MPI_Init by default. If the child process has MPI environment variables, MPI will think that the child process is an MPI process just like the parent and do bad things such as hang.
This context manager is a hacky way to clear those environment variables temporarily such as when we are starting multiprocessing
Processes.
"""
removed_environment = {}
for k, v in list(os.environ.items()):
for prefix in ['OMPI_', 'PMI_']:
if k.startswith(prefix):
removed_environment[k] = v
del os.environ[k]
try:
yield
finally:
os.environ.update(removed_environment) |
def learn(*, network, env, total_timesteps, eval_env = None, seed=None, nsteps=2048, ent_coef=0.0, lr=3e-4,
vf_coef=0.5, max_grad_norm=0.5, gamma=0.99, lam=0.95,
log_interval=10, nminibatches=4, noptepochs=4, cliprange=0.2,
save_interval=0, load_path=None, model_fn=None, **network_kwargs):
'''
Learn policy using PPO algorithm (https://arxiv.org/abs/1707.06347)
Parameters:
----------
network: policy network architecture. Either string (mlp, lstm, lnlstm, cnn_lstm, cnn, cnn_small, conv_only - see baselines.common/models.py for full list)
specifying the standard network architecture, or a function that takes tensorflow tensor as input and returns
tuple (output_tensor, extra_feed) where output tensor is the last network layer output, extra_feed is None for feed-forward
neural nets, and extra_feed is a dictionary describing how to feed state into the network for recurrent neural nets.
See common/models.py/lstm for more details on using recurrent nets in policies
env: baselines.common.vec_env.VecEnv environment. Needs to be vectorized for parallel environment simulation.
The environments produced by gym.make can be wrapped using baselines.common.vec_env.DummyVecEnv class.
nsteps: int number of steps of the vectorized environment per update (i.e. batch size is nsteps * nenv where
nenv is number of environment copies simulated in parallel)
total_timesteps: int number of timesteps (i.e. number of actions taken in the environment)
ent_coef: float policy entropy coefficient in the optimization objective
lr: float or function learning rate, constant or a schedule function [0,1] -> R+ where 1 is beginning of the
training and 0 is the end of the training.
vf_coef: float value function loss coefficient in the optimization objective
max_grad_norm: float or None gradient norm clipping coefficient
gamma: float discounting factor
lam: float advantage estimation discounting factor (lambda in the paper)
log_interval: int number of timesteps between logging events
nminibatches: int number of training minibatches per update. For recurrent policies,
should be smaller or equal than number of environments run in parallel.
noptepochs: int number of training epochs per update
cliprange: float or function clipping range, constant or schedule function [0,1] -> R+ where 1 is beginning of the training
and 0 is the end of the training
save_interval: int number of timesteps between saving events
load_path: str path to load the model from
**network_kwargs: keyword arguments to the policy / network builder. See baselines.common/policies.py/build_policy and arguments to a particular type of network
For instance, 'mlp' network architecture has arguments num_hidden and num_layers.
'''
set_global_seeds(seed)
if isinstance(lr, float): lr = constfn(lr)
else: assert callable(lr)
if isinstance(cliprange, float): cliprange = constfn(cliprange)
else: assert callable(cliprange)
total_timesteps = int(total_timesteps)
policy = build_policy(env, network, **network_kwargs)
# Get the nb of env
nenvs = env.num_envs
# Get state_space and action_space
ob_space = env.observation_space
ac_space = env.action_space
# Calculate the batch_size
nbatch = nenvs * nsteps
nbatch_train = nbatch // nminibatches
# Instantiate the model object (that creates act_model and train_model)
if model_fn is None:
from baselines.ppo2.model import Model
model_fn = Model
model = model_fn(policy=policy, ob_space=ob_space, ac_space=ac_space, nbatch_act=nenvs, nbatch_train=nbatch_train,
nsteps=nsteps, ent_coef=ent_coef, vf_coef=vf_coef,
max_grad_norm=max_grad_norm)
if load_path is not None:
model.load(load_path)
# Instantiate the runner object
runner = Runner(env=env, model=model, nsteps=nsteps, gamma=gamma, lam=lam)
if eval_env is not None:
eval_runner = Runner(env = eval_env, model = model, nsteps = nsteps, gamma = gamma, lam= lam)
epinfobuf = deque(maxlen=100)
if eval_env is not None:
eval_epinfobuf = deque(maxlen=100)
# Start total timer
tfirststart = time.perf_counter()
nupdates = total_timesteps//nbatch
for update in range(1, nupdates+1):
assert nbatch % nminibatches == 0
# Start timer
tstart = time.perf_counter()
frac = 1.0 - (update - 1.0) / nupdates
# Calculate the learning rate
lrnow = lr(frac)
# Calculate the cliprange
cliprangenow = cliprange(frac)
# Get minibatch
obs, returns, masks, actions, values, neglogpacs, states, epinfos = runner.run() #pylint: disable=E0632
if eval_env is not None:
eval_obs, eval_returns, eval_masks, eval_actions, eval_values, eval_neglogpacs, eval_states, eval_epinfos = eval_runner.run() #pylint: disable=E0632
epinfobuf.extend(epinfos)
if eval_env is not None:
eval_epinfobuf.extend(eval_epinfos)
# Here what we're going to do is for each minibatch calculate the loss and append it.
mblossvals = []
if states is None: # nonrecurrent version
# Index of each element of batch_size
# Create the indices array
inds = np.arange(nbatch)
for _ in range(noptepochs):
# Randomize the indexes
np.random.shuffle(inds)
# 0 to batch_size with batch_train_size step
for start in range(0, nbatch, nbatch_train):
end = start + nbatch_train
mbinds = inds[start:end]
slices = (arr[mbinds] for arr in (obs, returns, masks, actions, values, neglogpacs))
mblossvals.append(model.train(lrnow, cliprangenow, *slices))
else: # recurrent version
assert nenvs % nminibatches == 0
envsperbatch = nenvs // nminibatches
envinds = np.arange(nenvs)
flatinds = np.arange(nenvs * nsteps).reshape(nenvs, nsteps)
for _ in range(noptepochs):
np.random.shuffle(envinds)
for start in range(0, nenvs, envsperbatch):
end = start + envsperbatch
mbenvinds = envinds[start:end]
mbflatinds = flatinds[mbenvinds].ravel()
slices = (arr[mbflatinds] for arr in (obs, returns, masks, actions, values, neglogpacs))
mbstates = states[mbenvinds]
mblossvals.append(model.train(lrnow, cliprangenow, *slices, mbstates))
# Feedforward --> get losses --> update
lossvals = np.mean(mblossvals, axis=0)
# End timer
tnow = time.perf_counter()
# Calculate the fps (frame per second)
fps = int(nbatch / (tnow - tstart))
if update % log_interval == 0 or update == 1:
# Calculates if value function is a good predicator of the returns (ev > 1)
# or if it's just worse than predicting nothing (ev =< 0)
ev = explained_variance(values, returns)
logger.logkv("serial_timesteps", update*nsteps)
logger.logkv("nupdates", update)
logger.logkv("total_timesteps", update*nbatch)
logger.logkv("fps", fps)
logger.logkv("explained_variance", float(ev))
logger.logkv('eprewmean', safemean([epinfo['r'] for epinfo in epinfobuf]))
logger.logkv('eplenmean', safemean([epinfo['l'] for epinfo in epinfobuf]))
if eval_env is not None:
logger.logkv('eval_eprewmean', safemean([epinfo['r'] for epinfo in eval_epinfobuf]) )
logger.logkv('eval_eplenmean', safemean([epinfo['l'] for epinfo in eval_epinfobuf]) )
logger.logkv('time_elapsed', tnow - tfirststart)
for (lossval, lossname) in zip(lossvals, model.loss_names):
logger.logkv(lossname, lossval)
if MPI is None or MPI.COMM_WORLD.Get_rank() == 0:
logger.dumpkvs()
if save_interval and (update % save_interval == 0 or update == 1) and logger.get_dir() and (MPI is None or MPI.COMM_WORLD.Get_rank() == 0):
checkdir = osp.join(logger.get_dir(), 'checkpoints')
os.makedirs(checkdir, exist_ok=True)
savepath = osp.join(checkdir, '%.5i'%update)
print('Saving to', savepath)
model.save(savepath)
return model |
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", "residual norm", "soln norm"))
for i in range(cg_iters):
if callback is not None:
callback(x)
if verbose: print(fmtstr % (i, rdotr, np.linalg.norm(x)))
z = f_Ax(p)
v = rdotr / p.dot(z)
x += v*p
r -= v*z
newrdotr = r.dot(r)
mu = newrdotr/rdotr
p = r + mu*p
rdotr = newrdotr
if rdotr < residual_tol:
break
if callback is not None:
callback(x)
if verbose: print(fmtstr % (i+1, rdotr, np.linalg.norm(x))) # pylint: disable=W0631
return x |
def observation_placeholder(ob_space, batch_size=None, name='Ob'):
'''
Create placeholder to feed observations into of the size appropriate to the observation space
Parameters:
----------
ob_space: gym.Space observation space
batch_size: int size of the batch to be fed into input. Can be left None in most cases.
name: str name of the placeholder
Returns:
-------
tensorflow placeholder tensor
'''
assert isinstance(ob_space, Discrete) or isinstance(ob_space, Box) or isinstance(ob_space, MultiDiscrete), \
'Can only deal with Discrete and Box observation spaces for now'
dtype = ob_space.dtype
if dtype == np.int8:
dtype = np.uint8
return tf.placeholder(shape=(batch_size,) + ob_space.shape, dtype=dtype, name=name) |
def observation_input(ob_space, batch_size=None, name='Ob'):
'''
Create placeholder to feed observations into of the size appropriate to the observation space, and add input
encoder of the appropriate type.
'''
placeholder = observation_placeholder(ob_space, batch_size, name)
return placeholder, encode_observation(ob_space, placeholder) |
def encode_observation(ob_space, placeholder):
'''
Encode input in the way that is appropriate to the observation space
Parameters:
----------
ob_space: gym.Space observation space
placeholder: tf.placeholder observation input placeholder
'''
if isinstance(ob_space, Discrete):
return tf.to_float(tf.one_hot(placeholder, ob_space.n))
elif isinstance(ob_space, Box):
return tf.to_float(placeholder)
elif isinstance(ob_space, MultiDiscrete):
placeholder = tf.cast(placeholder, tf.int32)
one_hots = [tf.to_float(tf.one_hot(placeholder[..., i], ob_space.nvec[i])) for i in range(placeholder.shape[-1])]
return tf.concat(one_hots, axis=-1)
else:
raise NotImplementedError |
def generate_rollouts(self):
"""Performs `rollout_batch_size` rollouts in parallel for time horizon `T` with the current
policy acting on it accordingly.
"""
self.reset_all_rollouts()
# compute observations
o = np.empty((self.rollout_batch_size, self.dims['o']), np.float32) # observations
ag = np.empty((self.rollout_batch_size, self.dims['g']), np.float32) # achieved goals
o[:] = self.initial_o
ag[:] = self.initial_ag
# generate episodes
obs, achieved_goals, acts, goals, successes = [], [], [], [], []
dones = []
info_values = [np.empty((self.T - 1, self.rollout_batch_size, self.dims['info_' + key]), np.float32) for key in self.info_keys]
Qs = []
for t in range(self.T):
policy_output = self.policy.get_actions(
o, ag, self.g,
compute_Q=self.compute_Q,
noise_eps=self.noise_eps if not self.exploit else 0.,
random_eps=self.random_eps if not self.exploit else 0.,
use_target_net=self.use_target_net)
if self.compute_Q:
u, Q = policy_output
Qs.append(Q)
else:
u = policy_output
if u.ndim == 1:
# The non-batched case should still have a reasonable shape.
u = u.reshape(1, -1)
o_new = np.empty((self.rollout_batch_size, self.dims['o']))
ag_new = np.empty((self.rollout_batch_size, self.dims['g']))
success = np.zeros(self.rollout_batch_size)
# compute new states and observations
obs_dict_new, _, done, info = self.venv.step(u)
o_new = obs_dict_new['observation']
ag_new = obs_dict_new['achieved_goal']
success = np.array([i.get('is_success', 0.0) for i in info])
if any(done):
# here we assume all environments are done is ~same number of steps, so we terminate rollouts whenever any of the envs returns done
# trick with using vecenvs is not to add the obs from the environments that are "done", because those are already observations
# after a reset
break
for i, info_dict in enumerate(info):
for idx, key in enumerate(self.info_keys):
info_values[idx][t, i] = info[i][key]
if np.isnan(o_new).any():
self.logger.warn('NaN caught during rollout generation. Trying again...')
self.reset_all_rollouts()
return self.generate_rollouts()
dones.append(done)
obs.append(o.copy())
achieved_goals.append(ag.copy())
successes.append(success.copy())
acts.append(u.copy())
goals.append(self.g.copy())
o[...] = o_new
ag[...] = ag_new
obs.append(o.copy())
achieved_goals.append(ag.copy())
episode = dict(o=obs,
u=acts,
g=goals,
ag=achieved_goals)
for key, value in zip(self.info_keys, info_values):
episode['info_{}'.format(key)] = value
# stats
successful = np.array(successes)[-1, :]
assert successful.shape == (self.rollout_batch_size,)
success_rate = np.mean(successful)
self.success_history.append(success_rate)
if self.compute_Q:
self.Q_history.append(np.mean(Qs))
self.n_episodes += self.rollout_batch_size
return convert_episode_to_batch_major(episode) |
def save_policy(self, path):
"""Pickles the current policy for later inspection.
"""
with open(path, 'wb') as f:
pickle.dump(self.policy, f) |
def logs(self, prefix='worker'):
"""Generates a dictionary that contains all collected statistics.
"""
logs = []
logs += [('success_rate', np.mean(self.success_history))]
if self.compute_Q:
logs += [('mean_Q', np.mean(self.Q_history))]
logs += [('episode', self.n_episodes)]
if prefix != '' and not prefix.endswith('/'):
return [(prefix + '/' + key, val) for key, val in logs]
else:
return logs |
def smooth(y, radius, mode='two_sided', valid_only=False):
'''
Smooth signal y, where radius is determines the size of the window
mode='twosided':
average over the window [max(index - radius, 0), min(index + radius, len(y)-1)]
mode='causal':
average over the window [max(index - radius, 0), index]
valid_only: put nan in entries where the full-sized window is not available
'''
assert mode in ('two_sided', 'causal')
if len(y) < 2*radius+1:
return np.ones_like(y) * y.mean()
elif mode == 'two_sided':
convkernel = np.ones(2 * radius+1)
out = np.convolve(y, convkernel,mode='same') / np.convolve(np.ones_like(y), convkernel, mode='same')
if valid_only:
out[:radius] = out[-radius:] = np.nan
elif mode == 'causal':
convkernel = np.ones(radius)
out = np.convolve(y, convkernel,mode='full') / np.convolve(np.ones_like(y), convkernel, mode='full')
out = out[:-radius+1]
if valid_only:
out[:radius] = np.nan
return out |
def one_sided_ema(xolds, yolds, low=None, high=None, n=512, decay_steps=1., low_counts_threshold=1e-8):
'''
perform one-sided (causal) EMA (exponential moving average)
smoothing and resampling to an even grid with n points.
Does not do extrapolation, so we assume
xolds[0] <= low && high <= xolds[-1]
Arguments:
xolds: array or list - x values of data. Needs to be sorted in ascending order
yolds: array of list - y values of data. Has to have the same length as xolds
low: float - min value of the new x grid. By default equals to xolds[0]
high: float - max value of the new x grid. By default equals to xolds[-1]
n: int - number of points in new x grid
decay_steps: float - EMA decay factor, expressed in new x grid steps.
low_counts_threshold: float or int
- y values with counts less than this value will be set to NaN
Returns:
tuple sum_ys, count_ys where
xs - array with new x grid
ys - array of EMA of y at each point of the new x grid
count_ys - array of EMA of y counts at each point of the new x grid
'''
low = xolds[0] if low is None else low
high = xolds[-1] if high is None else high
assert xolds[0] <= low, 'low = {} < xolds[0] = {} - extrapolation not permitted!'.format(low, xolds[0])
assert xolds[-1] >= high, 'high = {} > xolds[-1] = {} - extrapolation not permitted!'.format(high, xolds[-1])
assert len(xolds) == len(yolds), 'length of xolds ({}) and yolds ({}) do not match!'.format(len(xolds), len(yolds))
xolds = xolds.astype('float64')
yolds = yolds.astype('float64')
luoi = 0 # last unused old index
sum_y = 0.
count_y = 0.
xnews = np.linspace(low, high, n)
decay_period = (high - low) / (n - 1) * decay_steps
interstep_decay = np.exp(- 1. / decay_steps)
sum_ys = np.zeros_like(xnews)
count_ys = np.zeros_like(xnews)
for i in range(n):
xnew = xnews[i]
sum_y *= interstep_decay
count_y *= interstep_decay
while True:
xold = xolds[luoi]
if xold <= xnew:
decay = np.exp(- (xnew - xold) / decay_period)
sum_y += decay * yolds[luoi]
count_y += decay
luoi += 1
else:
break
if luoi >= len(xolds):
break
sum_ys[i] = sum_y
count_ys[i] = count_y
ys = sum_ys / count_ys
ys[count_ys < low_counts_threshold] = np.nan
return xnews, ys, count_ys |
def symmetric_ema(xolds, yolds, low=None, high=None, n=512, decay_steps=1., low_counts_threshold=1e-8):
'''
perform symmetric EMA (exponential moving average)
smoothing and resampling to an even grid with n points.
Does not do extrapolation, so we assume
xolds[0] <= low && high <= xolds[-1]
Arguments:
xolds: array or list - x values of data. Needs to be sorted in ascending order
yolds: array of list - y values of data. Has to have the same length as xolds
low: float - min value of the new x grid. By default equals to xolds[0]
high: float - max value of the new x grid. By default equals to xolds[-1]
n: int - number of points in new x grid
decay_steps: float - EMA decay factor, expressed in new x grid steps.
low_counts_threshold: float or int
- y values with counts less than this value will be set to NaN
Returns:
tuple sum_ys, count_ys where
xs - array with new x grid
ys - array of EMA of y at each point of the new x grid
count_ys - array of EMA of y counts at each point of the new x grid
'''
xs, ys1, count_ys1 = one_sided_ema(xolds, yolds, low, high, n, decay_steps, low_counts_threshold=0)
_, ys2, count_ys2 = one_sided_ema(-xolds[::-1], yolds[::-1], -high, -low, n, decay_steps, low_counts_threshold=0)
ys2 = ys2[::-1]
count_ys2 = count_ys2[::-1]
count_ys = count_ys1 + count_ys2
ys = (ys1 * count_ys1 + ys2 * count_ys2) / count_ys
ys[count_ys < low_counts_threshold] = np.nan
return xs, ys, count_ys |
def load_results(root_dir_or_dirs, enable_progress=True, enable_monitor=True, verbose=False):
'''
load summaries of runs from a list of directories (including subdirectories)
Arguments:
enable_progress: bool - if True, will attempt to load data from progress.csv files (data saved by logger). Default: True
enable_monitor: bool - if True, will attempt to load data from monitor.csv files (data saved by Monitor environment wrapper). Default: True
verbose: bool - if True, will print out list of directories from which the data is loaded. Default: False
Returns:
List of Result objects with the following fields:
- dirname - path to the directory data was loaded from
- metadata - run metadata (such as command-line arguments and anything else in metadata.json file
- monitor - if enable_monitor is True, this field contains pandas dataframe with loaded monitor.csv file (or aggregate of all *.monitor.csv files in the directory)
- progress - if enable_progress is True, this field contains pandas dataframe with loaded progress.csv file
'''
import re
if isinstance(root_dir_or_dirs, str):
rootdirs = [osp.expanduser(root_dir_or_dirs)]
else:
rootdirs = [osp.expanduser(d) for d in root_dir_or_dirs]
allresults = []
for rootdir in rootdirs:
assert osp.exists(rootdir), "%s doesn't exist"%rootdir
for dirname, dirs, files in os.walk(rootdir):
if '-proc' in dirname:
files[:] = []
continue
monitor_re = re.compile(r'(\d+\.)?(\d+\.)?monitor\.csv')
if set(['metadata.json', 'monitor.json', 'progress.json', 'progress.csv']).intersection(files) or \
any([f for f in files if monitor_re.match(f)]): # also match monitor files like 0.1.monitor.csv
# used to be uncommented, which means do not go deeper than current directory if any of the data files
# are found
# dirs[:] = []
result = {'dirname' : dirname}
if "metadata.json" in files:
with open(osp.join(dirname, "metadata.json"), "r") as fh:
result['metadata'] = json.load(fh)
progjson = osp.join(dirname, "progress.json")
progcsv = osp.join(dirname, "progress.csv")
if enable_progress:
if osp.exists(progjson):
result['progress'] = pandas.DataFrame(read_json(progjson))
elif osp.exists(progcsv):
try:
result['progress'] = read_csv(progcsv)
except pandas.errors.EmptyDataError:
print('skipping progress file in ', dirname, 'empty data')
else:
if verbose: print('skipping %s: no progress file'%dirname)
if enable_monitor:
try:
result['monitor'] = pandas.DataFrame(monitor.load_results(dirname))
except monitor.LoadMonitorResultsError:
print('skipping %s: no monitor files'%dirname)
except Exception as e:
print('exception loading monitor file in %s: %s'%(dirname, e))
if result.get('monitor') is not None or result.get('progress') is not None:
allresults.append(Result(**result))
if verbose:
print('successfully loaded %s'%dirname)
if verbose: print('loaded %i results'%len(allresults))
return allresults |
def plot_results(
allresults, *,
xy_fn=default_xy_fn,
split_fn=default_split_fn,
group_fn=default_split_fn,
average_group=False,
shaded_std=True,
shaded_err=True,
figsize=None,
legend_outside=False,
resample=0,
smooth_step=1.0
):
'''
Plot multiple Results objects
xy_fn: function Result -> x,y - function that converts results objects into tuple of x and y values.
By default, x is cumsum of episode lengths, and y is episode rewards
split_fn: function Result -> hashable - function that converts results objects into keys to split curves into sub-panels by.
That is, the results r for which split_fn(r) is different will be put on different sub-panels.
By default, the portion of r.dirname between last / and -<digits> is returned. The sub-panels are
stacked vertically in the figure.
group_fn: function Result -> hashable - function that converts results objects into keys to group curves by.
That is, the results r for which group_fn(r) is the same will be put into the same group.
Curves in the same group have the same color (if average_group is False), or averaged over
(if average_group is True). The default value is the same as default value for split_fn
average_group: bool - if True, will average the curves in the same group and plot the mean. Enables resampling
(if resample = 0, will use 512 steps)
shaded_std: bool - if True (default), the shaded region corresponding to standard deviation of the group of curves will be
shown (only applicable if average_group = True)
shaded_err: bool - if True (default), the shaded region corresponding to error in mean estimate of the group of curves
(that is, standard deviation divided by square root of number of curves) will be
shown (only applicable if average_group = True)
figsize: tuple or None - size of the resulting figure (including sub-panels). By default, width is 6 and height is 6 times number of
sub-panels.
legend_outside: bool - if True, will place the legend outside of the sub-panels.
resample: int - if not zero, size of the uniform grid in x direction to resample onto. Resampling is performed via symmetric
EMA smoothing (see the docstring for symmetric_ema).
Default is zero (no resampling). Note that if average_group is True, resampling is necessary; in that case, default
value is 512.
smooth_step: float - when resampling (i.e. when resample > 0 or average_group is True), use this EMA decay parameter (in units of the new grid step).
See docstrings for decay_steps in symmetric_ema or one_sided_ema functions.
'''
if split_fn is None: split_fn = lambda _ : ''
if group_fn is None: group_fn = lambda _ : ''
sk2r = defaultdict(list) # splitkey2results
for result in allresults:
splitkey = split_fn(result)
sk2r[splitkey].append(result)
assert len(sk2r) > 0
assert isinstance(resample, int), "0: don't resample. <integer>: that many samples"
nrows = len(sk2r)
ncols = 1
figsize = figsize or (6, 6 * nrows)
f, axarr = plt.subplots(nrows, ncols, sharex=False, squeeze=False, figsize=figsize)
groups = list(set(group_fn(result) for result in allresults))
default_samples = 512
if average_group:
resample = resample or default_samples
for (isplit, sk) in enumerate(sorted(sk2r.keys())):
g2l = {}
g2c = defaultdict(int)
sresults = sk2r[sk]
gresults = defaultdict(list)
ax = axarr[isplit][0]
for result in sresults:
group = group_fn(result)
g2c[group] += 1
x, y = xy_fn(result)
if x is None: x = np.arange(len(y))
x, y = map(np.asarray, (x, y))
if average_group:
gresults[group].append((x,y))
else:
if resample:
x, y, counts = symmetric_ema(x, y, x[0], x[-1], resample, decay_steps=smooth_step)
l, = ax.plot(x, y, color=COLORS[groups.index(group) % len(COLORS)])
g2l[group] = l
if average_group:
for group in sorted(groups):
xys = gresults[group]
if not any(xys):
continue
color = COLORS[groups.index(group) % len(COLORS)]
origxs = [xy[0] for xy in xys]
minxlen = min(map(len, origxs))
def allequal(qs):
return all((q==qs[0]).all() for q in qs[1:])
if resample:
low = max(x[0] for x in origxs)
high = min(x[-1] for x in origxs)
usex = np.linspace(low, high, resample)
ys = []
for (x, y) in xys:
ys.append(symmetric_ema(x, y, low, high, resample, decay_steps=smooth_step)[1])
else:
assert allequal([x[:minxlen] for x in origxs]),\
'If you want to average unevenly sampled data, set resample=<number of samples you want>'
usex = origxs[0]
ys = [xy[1][:minxlen] for xy in xys]
ymean = np.mean(ys, axis=0)
ystd = np.std(ys, axis=0)
ystderr = ystd / np.sqrt(len(ys))
l, = axarr[isplit][0].plot(usex, ymean, color=color)
g2l[group] = l
if shaded_err:
ax.fill_between(usex, ymean - ystderr, ymean + ystderr, color=color, alpha=.4)
if shaded_std:
ax.fill_between(usex, ymean - ystd, ymean + ystd, color=color, alpha=.2)
# https://matplotlib.org/users/legend_guide.html
plt.tight_layout()
if any(g2l.keys()):
ax.legend(
g2l.values(),
['%s (%i)'%(g, g2c[g]) for g in g2l] if average_group else g2l.keys(),
loc=2 if legend_outside else None,
bbox_to_anchor=(1,1) if legend_outside else None)
ax.set_title(sk)
return f, axarr |
def check_synced(localval, comm=None):
"""
It's common to forget to initialize your variables to the same values, or
(less commonly) if you update them in some other way than adam, to get them out of sync.
This function checks that variables on all MPI workers are the same, and raises
an AssertionError otherwise
Arguments:
comm: MPI communicator
localval: list of local variables (list of variables on current worker to be compared with the other workers)
"""
comm = comm or MPI.COMM_WORLD
vals = comm.gather(localval)
if comm.rank == 0:
assert all(val==vals[0] for val in vals[1:]) |
def copy_obs_dict(obs):
"""
Deep-copy an observation dict.
"""
return {k: np.copy(v) for k, v in obs.items()} |
def obs_space_info(obs_space):
"""
Get dict-structured information about a gym.Space.
Returns:
A tuple (keys, shapes, dtypes):
keys: a list of dict keys.
shapes: a dict mapping keys to shapes.
dtypes: a dict mapping keys to dtypes.
"""
if isinstance(obs_space, gym.spaces.Dict):
assert isinstance(obs_space.spaces, OrderedDict)
subspaces = obs_space.spaces
else:
subspaces = {None: obs_space}
keys = []
shapes = {}
dtypes = {}
for key, box in subspaces.items():
keys.append(key)
shapes[key] = box.shape
dtypes[key] = box.dtype
return keys, shapes, dtypes |
def q_retrace(R, D, q_i, v, rho_i, nenvs, nsteps, gamma):
"""
Calculates q_retrace targets
:param R: Rewards
:param D: Dones
:param q_i: Q values for actions taken
:param v: V values
:param rho_i: Importance weight for each action
:return: Q_retrace values
"""
rho_bar = batch_to_seq(tf.minimum(1.0, rho_i), nenvs, nsteps, True) # list of len steps, shape [nenvs]
rs = batch_to_seq(R, nenvs, nsteps, True) # list of len steps, shape [nenvs]
ds = batch_to_seq(D, nenvs, nsteps, True) # list of len steps, shape [nenvs]
q_is = batch_to_seq(q_i, nenvs, nsteps, True)
vs = batch_to_seq(v, nenvs, nsteps + 1, True)
v_final = vs[-1]
qret = v_final
qrets = []
for i in range(nsteps - 1, -1, -1):
check_shape([qret, ds[i], rs[i], rho_bar[i], q_is[i], vs[i]], [[nenvs]] * 6)
qret = rs[i] + gamma * qret * (1.0 - ds[i])
qrets.append(qret)
qret = (rho_bar[i] * (qret - q_is[i])) + vs[i]
qrets = qrets[::-1]
qret = seq_to_batch(qrets, flat=True)
return qret |
def learn(network, env, seed=None, nsteps=20, total_timesteps=int(80e6), q_coef=0.5, ent_coef=0.01,
max_grad_norm=10, lr=7e-4, lrschedule='linear', rprop_epsilon=1e-5, rprop_alpha=0.99, gamma=0.99,
log_interval=100, buffer_size=50000, replay_ratio=4, replay_start=10000, c=10.0,
trust_region=True, alpha=0.99, delta=1, load_path=None, **network_kwargs):
'''
Main entrypoint for ACER (Actor-Critic with Experience Replay) algorithm (https://arxiv.org/pdf/1611.01224.pdf)
Train an agent with given network architecture on a given environment using ACER.
Parameters:
----------
network: policy network architecture. Either string (mlp, lstm, lnlstm, cnn_lstm, cnn, cnn_small, conv_only - see baselines.common/models.py for full list)
specifying the standard network architecture, or a function that takes tensorflow tensor as input and returns
tuple (output_tensor, extra_feed) where output tensor is the last network layer output, extra_feed is None for feed-forward
neural nets, and extra_feed is a dictionary describing how to feed state into the network for recurrent neural nets.
See baselines.common/policies.py/lstm for more details on using recurrent nets in policies
env: environment. Needs to be vectorized for parallel environment simulation.
The environments produced by gym.make can be wrapped using baselines.common.vec_env.DummyVecEnv class.
nsteps: int, number of steps of the vectorized environment per update (i.e. batch size is nsteps * nenv where
nenv is number of environment copies simulated in parallel) (default: 20)
nstack: int, size of the frame stack, i.e. number of the frames passed to the step model. Frames are stacked along channel dimension
(last image dimension) (default: 4)
total_timesteps: int, number of timesteps (i.e. number of actions taken in the environment) (default: 80M)
q_coef: float, value function loss coefficient in the optimization objective (analog of vf_coef for other actor-critic methods)
ent_coef: float, policy entropy coefficient in the optimization objective (default: 0.01)
max_grad_norm: float, gradient norm clipping coefficient. If set to None, no clipping. (default: 10),
lr: float, learning rate for RMSProp (current implementation has RMSProp hardcoded in) (default: 7e-4)
lrschedule: schedule of learning rate. Can be 'linear', 'constant', or a function [0..1] -> [0..1] that takes fraction of the training progress as input and
returns fraction of the learning rate (specified as lr) as output
rprop_epsilon: float, RMSProp epsilon (stabilizes square root computation in denominator of RMSProp update) (default: 1e-5)
rprop_alpha: float, RMSProp decay parameter (default: 0.99)
gamma: float, reward discounting factor (default: 0.99)
log_interval: int, number of updates between logging events (default: 100)
buffer_size: int, size of the replay buffer (default: 50k)
replay_ratio: int, now many (on average) batches of data to sample from the replay buffer take after batch from the environment (default: 4)
replay_start: int, the sampling from the replay buffer does not start until replay buffer has at least that many samples (default: 10k)
c: float, importance weight clipping factor (default: 10)
trust_region bool, whether or not algorithms estimates the gradient KL divergence between the old and updated policy and uses it to determine step size (default: True)
delta: float, max KL divergence between the old policy and updated policy (default: 1)
alpha: float, momentum factor in the Polyak (exponential moving average) averaging of the model parameters (default: 0.99)
load_path: str, path to load the model from (default: None)
**network_kwargs: keyword arguments to the policy / network builder. See baselines.common/policies.py/build_policy and arguments to a particular type of network
For instance, 'mlp' network architecture has arguments num_hidden and num_layers.
'''
print("Running Acer Simple")
print(locals())
set_global_seeds(seed)
if not isinstance(env, VecFrameStack):
env = VecFrameStack(env, 1)
policy = build_policy(env, network, estimate_q=True, **network_kwargs)
nenvs = env.num_envs
ob_space = env.observation_space
ac_space = env.action_space
nstack = env.nstack
model = Model(policy=policy, ob_space=ob_space, ac_space=ac_space, nenvs=nenvs, nsteps=nsteps,
ent_coef=ent_coef, q_coef=q_coef, gamma=gamma,
max_grad_norm=max_grad_norm, lr=lr, rprop_alpha=rprop_alpha, rprop_epsilon=rprop_epsilon,
total_timesteps=total_timesteps, lrschedule=lrschedule, c=c,
trust_region=trust_region, alpha=alpha, delta=delta)
runner = Runner(env=env, model=model, nsteps=nsteps)
if replay_ratio > 0:
buffer = Buffer(env=env, nsteps=nsteps, size=buffer_size)
else:
buffer = None
nbatch = nenvs*nsteps
acer = Acer(runner, model, buffer, log_interval)
acer.tstart = time.time()
for acer.steps in range(0, total_timesteps, nbatch): #nbatch samples, 1 on_policy call and multiple off-policy calls
acer.call(on_policy=True)
if replay_ratio > 0 and buffer.has_atleast(replay_start):
n = np.random.poisson(replay_ratio)
for _ in range(n):
acer.call(on_policy=False) # no simulation steps in this
return model |
def apply_stats(self, statsUpdates):
""" compute stats and update/apply the new stats to the running average
"""
def updateAccumStats():
if self._full_stats_init:
return tf.cond(tf.greater(self.sgd_step, self._cold_iter), lambda: tf.group(*self._apply_stats(statsUpdates, accumulate=True, accumulateCoeff=1. / self._stats_accum_iter)), tf.no_op)
else:
return tf.group(*self._apply_stats(statsUpdates, accumulate=True, accumulateCoeff=1. / self._stats_accum_iter))
def updateRunningAvgStats(statsUpdates, fac_iter=1):
# return tf.cond(tf.greater_equal(self.factor_step,
# tf.convert_to_tensor(fac_iter)), lambda:
# tf.group(*self._apply_stats(stats_list, varlist)), tf.no_op)
return tf.group(*self._apply_stats(statsUpdates))
if self._async_stats:
# asynchronous stats update
update_stats = self._apply_stats(statsUpdates)
queue = tf.FIFOQueue(1, [item.dtype for item in update_stats], shapes=[
item.get_shape() for item in update_stats])
enqueue_op = queue.enqueue(update_stats)
def dequeue_stats_op():
return queue.dequeue()
self.qr_stats = tf.train.QueueRunner(queue, [enqueue_op])
update_stats_op = tf.cond(tf.equal(queue.size(), tf.convert_to_tensor(
0)), tf.no_op, lambda: tf.group(*[dequeue_stats_op(), ]))
else:
# synchronous stats update
update_stats_op = tf.cond(tf.greater_equal(
self.stats_step, self._stats_accum_iter), lambda: updateRunningAvgStats(statsUpdates), updateAccumStats)
self._update_stats_op = update_stats_op
return update_stats_op |
def tile_images(img_nhwc):
"""
Tile N images into one big PxQ image
(P,Q) are chosen to be as close as possible, and if N
is square, then P=Q.
input: img_nhwc, list or array of images, ndim=4 once turned into array
n = batch index, h = height, w = width, c = channel
returns:
bigim_HWc, ndarray with ndim=3
"""
img_nhwc = np.asarray(img_nhwc)
N, h, w, c = img_nhwc.shape
H = int(np.ceil(np.sqrt(N)))
W = int(np.ceil(float(N)/H))
img_nhwc = np.array(list(img_nhwc) + [img_nhwc[0]*0 for _ in range(N, H*W)])
img_HWhwc = img_nhwc.reshape(H, W, h, w, c)
img_HhWwc = img_HWhwc.transpose(0, 2, 1, 3, 4)
img_Hh_Ww_c = img_HhWwc.reshape(H*h, W*w, c)
return img_Hh_Ww_c |
def sum(self, start=0, end=None):
"""Returns arr[start] + ... + arr[end]"""
return super(SumSegmentTree, self).reduce(start, end) |
def find_prefixsum_idx(self, prefixsum):
"""Find the highest index `i` in the array such that
sum(arr[0] + arr[1] + ... + arr[i - i]) <= prefixsum
if array values are probabilities, this function
allows to sample indexes according to the discrete
probability efficiently.
Parameters
----------
perfixsum: float
upperbound on the sum of array prefix
Returns
-------
idx: int
highest index satisfying the prefixsum constraint
"""
assert 0 <= prefixsum <= self.sum() + 1e-5
idx = 1
while idx < self._capacity: # while non-leaf
if self._value[2 * idx] > prefixsum:
idx = 2 * idx
else:
prefixsum -= self._value[2 * idx]
idx = 2 * idx + 1
return idx - self._capacity |
def min(self, start=0, end=None):
"""Returns min(arr[start], ..., arr[end])"""
return super(MinSegmentTree, self).reduce(start, end) |
def value(self, t):
"""See Schedule.value"""
for (l_t, l), (r_t, r) in zip(self._endpoints[:-1], self._endpoints[1:]):
if l_t <= t and t < r_t:
alpha = float(t - l_t) / (r_t - l_t)
return self._interpolation(l, r, alpha)
# t does not belong to any of the pieces, so doom.
assert self._outside_value is not None
return self._outside_value |
def _subproc_worker(pipe, parent_pipe, env_fn_wrapper, obs_bufs, obs_shapes, obs_dtypes, keys):
"""
Control a single environment instance using IPC and
shared memory.
"""
def _write_obs(maybe_dict_obs):
flatdict = obs_to_dict(maybe_dict_obs)
for k in keys:
dst = obs_bufs[k].get_obj()
dst_np = np.frombuffer(dst, dtype=obs_dtypes[k]).reshape(obs_shapes[k]) # pylint: disable=W0212
np.copyto(dst_np, flatdict[k])
env = env_fn_wrapper.x()
parent_pipe.close()
try:
while True:
cmd, data = pipe.recv()
if cmd == 'reset':
pipe.send(_write_obs(env.reset()))
elif cmd == 'step':
obs, reward, done, info = env.step(data)
if done:
obs = env.reset()
pipe.send((_write_obs(obs), reward, done, info))
elif cmd == 'render':
pipe.send(env.render(mode='rgb_array'))
elif cmd == 'close':
pipe.send(None)
break
else:
raise RuntimeError('Got unrecognized cmd %s' % cmd)
except KeyboardInterrupt:
print('ShmemVecEnv worker: got KeyboardInterrupt')
finally:
env.close() |
def learn(
network,
env,
seed=None,
nsteps=5,
total_timesteps=int(80e6),
vf_coef=0.5,
ent_coef=0.01,
max_grad_norm=0.5,
lr=7e-4,
lrschedule='linear',
epsilon=1e-5,
alpha=0.99,
gamma=0.99,
log_interval=100,
load_path=None,
**network_kwargs):
'''
Main entrypoint for A2C algorithm. Train a policy with given network architecture on a given environment using a2c algorithm.
Parameters:
-----------
network: policy network architecture. Either string (mlp, lstm, lnlstm, cnn_lstm, cnn, cnn_small, conv_only - see baselines.common/models.py for full list)
specifying the standard network architecture, or a function that takes tensorflow tensor as input and returns
tuple (output_tensor, extra_feed) where output tensor is the last network layer output, extra_feed is None for feed-forward
neural nets, and extra_feed is a dictionary describing how to feed state into the network for recurrent neural nets.
See baselines.common/policies.py/lstm for more details on using recurrent nets in policies
env: RL environment. Should implement interface similar to VecEnv (baselines.common/vec_env) or be wrapped with DummyVecEnv (baselines.common/vec_env/dummy_vec_env.py)
seed: seed to make random number sequence in the alorightm reproducible. By default is None which means seed from system noise generator (not reproducible)
nsteps: int, number of steps of the vectorized environment per update (i.e. batch size is nsteps * nenv where
nenv is number of environment copies simulated in parallel)
total_timesteps: int, total number of timesteps to train on (default: 80M)
vf_coef: float, coefficient in front of value function loss in the total loss function (default: 0.5)
ent_coef: float, coeffictiant in front of the policy entropy in the total loss function (default: 0.01)
max_gradient_norm: float, gradient is clipped to have global L2 norm no more than this value (default: 0.5)
lr: float, learning rate for RMSProp (current implementation has RMSProp hardcoded in) (default: 7e-4)
lrschedule: schedule of learning rate. Can be 'linear', 'constant', or a function [0..1] -> [0..1] that takes fraction of the training progress as input and
returns fraction of the learning rate (specified as lr) as output
epsilon: float, RMSProp epsilon (stabilizes square root computation in denominator of RMSProp update) (default: 1e-5)
alpha: float, RMSProp decay parameter (default: 0.99)
gamma: float, reward discounting parameter (default: 0.99)
log_interval: int, specifies how frequently the logs are printed out (default: 100)
**network_kwargs: keyword arguments to the policy / network builder. See baselines.common/policies.py/build_policy and arguments to a particular type of network
For instance, 'mlp' network architecture has arguments num_hidden and num_layers.
'''
set_global_seeds(seed)
# Get the nb of env
nenvs = env.num_envs
policy = build_policy(env, network, **network_kwargs)
# Instantiate the model object (that creates step_model and train_model)
model = Model(policy=policy, env=env, nsteps=nsteps, ent_coef=ent_coef, vf_coef=vf_coef,
max_grad_norm=max_grad_norm, lr=lr, alpha=alpha, epsilon=epsilon, total_timesteps=total_timesteps, lrschedule=lrschedule)
if load_path is not None:
model.load(load_path)
# Instantiate the runner object
runner = Runner(env, model, nsteps=nsteps, gamma=gamma)
epinfobuf = deque(maxlen=100)
# Calculate the batch_size
nbatch = nenvs*nsteps
# Start total timer
tstart = time.time()
for update in range(1, total_timesteps//nbatch+1):
# Get mini batch of experiences
obs, states, rewards, masks, actions, values, epinfos = runner.run()
epinfobuf.extend(epinfos)
policy_loss, value_loss, policy_entropy = model.train(obs, states, rewards, masks, actions, values)
nseconds = time.time()-tstart
# Calculate the fps (frame per second)
fps = int((update*nbatch)/nseconds)
if update % log_interval == 0 or update == 1:
# Calculates if value function is a good predicator of the returns (ev > 1)
# or if it's just worse than predicting nothing (ev =< 0)
ev = explained_variance(values, rewards)
logger.record_tabular("nupdates", update)
logger.record_tabular("total_timesteps", update*nbatch)
logger.record_tabular("fps", fps)
logger.record_tabular("policy_entropy", float(policy_entropy))
logger.record_tabular("value_loss", float(value_loss))
logger.record_tabular("explained_variance", float(ev))
logger.record_tabular("eprewmean", safemean([epinfo['r'] for epinfo in epinfobuf]))
logger.record_tabular("eplenmean", safemean([epinfo['l'] for epinfo in epinfobuf]))
logger.dump_tabular()
return model |
def sf01(arr):
"""
swap and then flatten axes 0 and 1
"""
s = arr.shape
return arr.swapaxes(0, 1).reshape(s[0] * s[1], *s[2:]) |
def step(self, observation, **extra_feed):
"""
Compute next action(s) given the observation(s)
Parameters:
----------
observation observation data (either single or a batch)
**extra_feed additional data such as state or mask (names of the arguments should match the ones in constructor, see __init__)
Returns:
-------
(action, value estimate, next state, negative log likelihood of the action under current policy parameters) tuple
"""
a, v, state, neglogp = self._evaluate([self.action, self.vf, self.state, self.neglogp], observation, **extra_feed)
if state.size == 0:
state = None
return a, v, state, neglogp |
def value(self, ob, *args, **kwargs):
"""
Compute value estimate(s) given the observation(s)
Parameters:
----------
observation observation data (either single or a batch)
**extra_feed additional data such as state or mask (names of the arguments should match the ones in constructor, see __init__)
Returns:
-------
value estimate
"""
return self._evaluate(self.vf, ob, *args, **kwargs) |
def pretty_eta(seconds_left):
"""Print the number of seconds in human readable format.
Examples:
2 days
2 hours and 37 minutes
less than a minute
Paramters
---------
seconds_left: int
Number of seconds to be converted to the ETA
Returns
-------
eta: str
String representing the pretty ETA.
"""
minutes_left = seconds_left // 60
seconds_left %= 60
hours_left = minutes_left // 60
minutes_left %= 60
days_left = hours_left // 24
hours_left %= 24
def helper(cnt, name):
return "{} {}{}".format(str(cnt), name, ('s' if cnt > 1 else ''))
if days_left > 0:
msg = helper(days_left, 'day')
if hours_left > 0:
msg += ' and ' + helper(hours_left, 'hour')
return msg
if hours_left > 0:
msg = helper(hours_left, 'hour')
if minutes_left > 0:
msg += ' and ' + helper(minutes_left, 'minute')
return msg
if minutes_left > 0:
return helper(minutes_left, 'minute')
return 'less than a minute' |
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