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@@ -4,7 +4,9 @@ from typing import Dict, Optional |
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import gym |
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import metaworld |
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import numpy as np |
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+import pandas as pd |
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import torch |
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+from datasets import Dataset |
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from huggingface_hub import HfApi, repocard, upload_folder |
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from sample_factory.algo.learning.learner import Learner |
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from sample_factory.algo.sampling.batched_sampling import preprocess_actions |
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@@ -12,11 +14,7 @@ from sample_factory.algo.utils.action_distributions import argmax_actions |
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from sample_factory.algo.utils.env_info import extract_env_info |
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from sample_factory.algo.utils.make_env import make_env_func_batched |
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from sample_factory.algo.utils.rl_utils import make_dones, prepare_and_normalize_obs |
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-from sample_factory.cfg.arguments import ( |
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- load_from_checkpoint, |
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- parse_full_cfg, |
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- parse_sf_args, |
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-) |
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+from sample_factory.cfg.arguments import load_from_checkpoint, parse_full_cfg, parse_sf_args |
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from sample_factory.envs.env_utils import register_env |
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from sample_factory.model.actor_critic import create_actor_critic |
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from sample_factory.model.model_utils import get_rnn_size |
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@@ -165,10 +163,8 @@ def create_dataset(cfg: Config): |
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# Create dataset |
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dataset_size = 100_000 |
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dataset = { |
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- "observations": np.zeros( |
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- (dataset_size, *env.observation_space["obs"].shape), dtype=env.observation_space["obs"].dtype |
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- ), |
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- "actions": np.zeros((dataset_size, *env.action_space.shape), env.action_space.dtype), |
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+ "observations": np.zeros((dataset_size, *env.observation_space["obs"].shape), dtype=np.float32), |
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+ "actions": np.zeros((dataset_size, *env.action_space.shape), np.float32), |
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"dones": np.zeros((dataset_size,), bool), |
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"rewards": np.zeros((dataset_size,), np.float32), |
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} |
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@@ -206,6 +202,13 @@ def create_dataset(cfg: Config): |
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env.close() |
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+ # Convert dict of numpy array to pandas dataframe |
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+# dataset = Dataset.from_dict(dataset) |
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+# dataset.create_config_id |
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+ # Set the card of the dataset |
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+# dataset.card = f"""""" |
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+# dataset.push_to_hub("qgallouedec/prj_gia_dataset_metaworld_assembly_v2_1111_demo") |
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+ |
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# Save dataset |
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repo_path = f"{cfg.train_dir}/datasets/{cfg.experiment}" |
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os.makedirs(repo_path, exist_ok=True) |
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@@ -1,34 +1,6 @@ |
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#!/bin/bash |
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ENVS=( |
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- assembly |
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- basketball |
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- bin-picking |
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- box-close |
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- button-press-topdown |
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- button-press-topdown-wall |
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- button-press |
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- button-press-wall |
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- coffee-button |
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- coffee-pull |
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- coffee-push |
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- dial-turn |
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- disassemble |
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- door-close |
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- door-lock |
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- door-open |
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- door-unlock |
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- drawer-close |
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- drawer-open |
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- faucet-close |
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- faucet-open |
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- hammer |
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- hand-insert |
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- handle-press-side |
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- handle-press |
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- handle-pull-side |
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- handle-pull |
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- lever-pull |
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peg-insert-side |
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peg-unplug-side |
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pick-out-of-hole |
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@@ -40,19 +12,8 @@ ENVS=( |
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plate-slide |
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push-back |
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push |
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- push-wall |
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- reach |
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- reach-wall |
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- shelf-place |
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- soccer |
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- stick-pull |
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- stick-push |
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- sweep-into |
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- sweep |
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- window-close |
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- window-open |
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) |
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for ENV in "${ENVS[@]}"; do |
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- python generate_dataset.py --env $ENV-v2 --experiment $ENV-v2 --train_dir=./train_dir |
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+ python generate_dataset.py --env $ENV-v2 --experiment $ENV-v2 --train_dir=./train_dir |
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done |
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@@ -1,48 +1,48 @@ |
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#!/bin/bash |
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ENVS=( |
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- assembly |
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- basketball |
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- bin-picking |
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- box-close |
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- button-press-topdown |
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- button-press-topdown-wall |
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- button-press |
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- button-press-wall |
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- coffee-button |
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- coffee-pull |
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- coffee-push |
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- dial-turn |
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- disassemble |
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- door-close |
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- door-lock |
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- door-open |
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- door-unlock |
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- drawer-close |
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- drawer-open |
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- faucet-close |
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- faucet-open |
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- hammer |
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- hand-insert |
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- handle-press-side |
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- handle-press |
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- handle-pull-side |
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- handle-pull |
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- lever-pull |
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- peg-insert-side |
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- peg-unplug-side |
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- pick-out-of-hole |
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- pick-place |
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- pick-place-wall |
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- plate-slide-back-side |
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- plate-slide-back |
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- plate-slide-side |
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- plate-slide |
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- push-back |
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- push |
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- push-wall |
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- reach |
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- reach-wall |
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+# assembly |
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+# basketball |
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+# bin-picking |
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+# box-close |
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+# button-press-topdown |
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+# button-press-topdown-wall |
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+# button-press |
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+# button-press-wall |
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+# coffee-button |
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+# coffee-pull |
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+# coffee-push |
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+# dial-turn |
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+# disassemble |
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+# door-close |
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+# door-lock |
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+# door-open |
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+# door-unlock |
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+# drawer-close |
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+# drawer-open |
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+# faucet-close |
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+# faucet-open |
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+# hammer |
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+# hand-insert |
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+# handle-press-side |
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+# handle-press |
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+# handle-pull-side |
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+# handle-pull |
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+# lever-pull |
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+# peg-insert-side |
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+# peg-unplug-side |
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+# pick-out-of-hole |
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+# pick-place |
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+# pick-place-wall |
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+# plate-slide-back-side |
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+# plate-slide-back |
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+# plate-slide-side |
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+# plate-slide |
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+# push-back |
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+# push |
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+# push-wall |
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+# reach |
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+# reach-wall |
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shelf-place |
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soccer |
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stick-pull |
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@@ -55,4 +55,5 @@ ENVS=( |
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for ENV in "${ENVS[@]}"; do |
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python train.py --env $ENV-v2 --experiment $ENV-v2 --with_wandb True --wandb_user qgallouedec --wandb_project sample_facotry_metaworld |
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+ python enjoy.py --algo=APPO --env $ENV-v2 --experiment $ENV-v2 --train_dir=./train_dir --max_num_episodes=10 --push_to_hub --hf_repository=qgallouedec/sample-factory-$ENV-v2 --save_video --no_render --enjoy_script=enjoy --train_script=train --load_checkpoint_kind best |
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done |
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