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import d4rl # noqa
import gym
import tqdm
from diffusers.experimental import ValueGuidedRLPipeline
config = {
"n_samples": 64,
"horizon": 32,
"num_inference_steps": 20,
"n_guide_steps": 2, # can set to 0 for faster sampling, does not use value network
"scale_grad_by_std": True,
"scale": 0.1,
"eta": 0.0,
"t_grad_cutoff": 2,
"device": "cpu",
}
if __name__ == "__main__":
env_name = "hopper-medium-v2"
env = gym.make(env_name)
pipeline = ValueGuidedRLPipeline.from_pretrained(
"bglick13/hopper-medium-v2-value-function-hor32",
env=env,
)
env.seed(0)
obs = env.reset()
total_reward = 0
total_score = 0
T = 1000
rollout = [obs.copy()]
try:
for t in tqdm.tqdm(range(T)):
# call the policy
denorm_actions = pipeline(obs, planning_horizon=32)
# execute action in environment
next_observation, reward, terminal, _ = env.step(denorm_actions)
score = env.get_normalized_score(total_reward)
# update return
total_reward += reward
total_score += score
print(
f"Step: {t}, Reward: {reward}, Total Reward: {total_reward}, Score: {score}, Total Score:"
f" {total_score}"
)
# save observations for rendering
rollout.append(next_observation.copy())
obs = next_observation
except KeyboardInterrupt:
pass
print(f"Total reward: {total_reward}")
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