MAML-RL Pytorch 代码解读 (12) – maml_rl/envs/mujoco/ant.py
文章目录
基本介绍
在网上看到的元学习 MAML 的代码大多是跟图像相关的，强化学习这边的代码比较少。
因为自己的思路跟 MAML-RL 相关，所以打算读一些源码。
MAML 的原始代码是基于 tensorflow 的，在 Github 上找到了基于 Pytorch 源码包，学习这个包。
源码链接
https://github.com/dragen1860/MAML-Pytorch-RL
文件路径
./maml_rl/envs/mujoco/ant.py
import 包
import numpy as np
from gym.envs.mujoco import AntEnv as AntEnv_
AntEnv() 类
这个类应该是一个总类，下面的变体都是在这个基础上变化的
class AntEnv(AntEnv_):
#### @property是将被装饰的方法转化为一个同名的只读的特征属性，被装饰方法的文档字符串就是装饰后同名属性的文档字符串，且后面没有.setter和.deleter方法，说明这个装饰器将self._action_scaling变只读了。如果自己的实例没有名字为'action_space'的属性，那么返回1.0数值。如果self._action_scaling存在但是是None，那么就返回动作空间的一半空间。
@property
def action_scaling(self):
if not hasattr(self, 'action_space'):
return 1.0
if self._action_scaling is None:
lb, ub = self.action_space.low, self.action_space.high
self._action_scaling = 0.5 * (ub - lb)
return self._action_scaling
#### 获取mujoco仿真器的位姿、速度、（归一化的接触摩擦力...?）和两个关于自身身体的数值。最后打包装成了np数组。
def _get_obs(self):
return np.concatenate([
self.sim.data.qpos.flat[2:],
self.sim.data.qvel.flat,
np.clip(self.sim.data.cfrc_ext, -1, 1).flat,
self.sim.data.get_body_xmat("torso").flat,
self.get_body_com("torso").flat,
]).astype(np.float32).flatten()
#### 构建仿真器内部的相机。先指定camera_id，两款相机，其中一款是固定的，距离模型放置的0.35倍的距离
def viewer_setup(self):
camera_id = self.model.camera_name2id('track')
self.viewer.cam.type = 2
self.viewer.cam.fixedcamid = camera_id
self.viewer.cam.distance = self.model.stat.extent * 0.35
# Hide the overlay
self.viewer._hide_overlay = True
#### 用于渲染。如果采用的渲染模式是'rgb_array'，那么从相机中渲染获得信息，设置图片大小是500x500，将图片转换成数据并返回。如果采用的渲染模式是'human'，直接对仿真器渲染，不需要获得信息。
def render(self, mode='human'):
if mode == 'rgb_array':
self._get_viewer().render()
# window size used for old mujoco-py:
width, height = 500, 500
data = self._get_viewer().read_pixels(width, height, depth=False)
return data
elif mode == 'human':
self._get_viewer().render()
AntVelEnv() 类
class AntVelEnv(AntEnv):
#### 这个类是具有目标速度的蚂蚁环境，继承AntEnv()类。奖励函数由：控制消耗、幸存奖励，当前速度和目标速度之间的惩罚项。从均匀分布[0, 3]中采样目标速度。
"""Ant environment with target velocity, as described in [1]. The
code is adapted from
https://github.com/cbfinn/maml_rl/blob/9c8e2ebd741cb0c7b8bf2d040c4caeeb8e06cc95/rllab/envs/mujoco/ant_env_rand.py
The ant follows the dynamics from MuJoCo [2], and receives at each
time step a reward composed of a control cost, a contact cost, a survival
reward, and a penalty equal to the difference between its current velocity
and the target velocity. The tasks are generated by sampling the target
velocities from the uniform distribution on [0, 3].
[1] Chelsea Finn, Pieter Abbeel, Sergey Levine, "Model-Agnostic
Meta-Learning for Fast Adaptation of Deep Networks", 2017
(https://arxiv.org/abs/1703.03400)
[2] Emanuel Todorov, Tom Erez, Yuval Tassa, "MuJoCo: A physics engine for
model-based control", 2012
(https://homes.cs.washington.edu/~todorov/papers/TodorovIROS12.pdf)
"""
#### 接受任务、任务的目标速度键值对、不进行归一化动作空间，声明对父类的继承。
def __init__(self, task={}):
self._task = task
self._goal_vel = task.get('velocity', 0.0)
self._action_scaling = None
super(AntVelEnv, self).__init__()
def step(self, action):
#### 从仿真器中获取蚂蚁的采取动作前的位置（位姿）xposbefore；在仿真器中采用self.frame_skip帧率执行action动作后进行仿真；从仿真器中获取蚂蚁的采取动作后的位置（位姿）xposafter；
xposbefore = self.get_body_com("torso")[0]
self.do_simulation(action, self.frame_skip)
xposafter = self.get_body_com("torso")[0]
#### 前馈速度用速度公式求出来；然后获得前馈的速度有关的奖励；幸存奖励是0.05；控制损失应该是一个幅度，如果控制信号越大，那么损失就越大；接触摩擦力损失按公式计算。
forward_vel = (xposafter - xposbefore) / self.dt
forward_reward = -1.0 * np.abs(forward_vel - self._goal_vel) + 1.0
survive_reward = 0.05
ctrl_cost = 0.5 * 1e-2 * np.sum(np.square(action / self.action_scaling))
contact_cost = 0.5 * 1e-3 * np.sum(
np.square(np.clip(self.sim.data.cfrc_ext, -1, 1)))
#### 从上一个类中获得位姿、接触摩擦力和其他一些从参数。计算奖励。self.state_vector()的意思是将蚂蚁的位姿[1]和速度[2]变成一个向量。如果状态信息都是有限值，且速度在[0.2,1.0]的范围内，那么就是没有完成notdone=True。反之就是完成了done=True。infos记录奖励信息。最后返回一个元组。
observation = self._get_obs()
reward = forward_reward - ctrl_cost - contact_cost + survive_reward
state = self.state_vector()
notdone = np.isfinite(state).all() \
and state[2] >= 0.2 and state[2] <= 1.0
done = not notdone
infos = dict(reward_forward=forward_reward, reward_ctrl=-ctrl_cost,
reward_contact=-contact_cost, reward_survive=survive_reward,
task=self._task)
return (observation, reward, done, infos)
def sample_tasks(self, num_tasks):
#### 从均匀分布[0.0,3.0]中采样num_tasks个任务，在每个任务中记录键值对'velocity'和数值。
velocities = self.np_random.uniform(0.0, 3.0, size=(num_tasks,))
tasks = [{'velocity': velocity} for velocity in velocities]
return tasks
def reset_task(self, task):
#### 重置任务。
self._task = task
self._goal_vel = task['velocity']
AntDirEnv() 类
class AntDirEnv(AntEnv):
#### 这个类是具有目标方向的蚂蚁环境，继承AntEnv()类。奖励函数由：控制消耗、接触消耗、幸存奖励，当前方向和目标方向之间的惩罚项。从{-1,1}=[0.5,0.5]中采样目标方向。
"""Ant environment with target direction, as described in [1]. The
code is adapted from
https://github.com/cbfinn/maml_rl/blob/9c8e2ebd741cb0c7b8bf2d040c4caeeb8e06cc95/rllab/envs/mujoco/ant_env_rand_direc.py
The ant follows the dynamics from MuJoCo [2], and receives at each
time step a reward composed of a control cost, a contact cost, a survival
reward, and a reward equal to its velocity in the target direction. The
tasks are generated by sampling the target directions from a Bernoulli
distribution on {-1, 1} with parameter 0.5 (-1: backward, +1: forward).
[1] Chelsea Finn, Pieter Abbeel, Sergey Levine, "Model-Agnostic
Meta-Learning for Fast Adaptation of Deep Networks", 2017
(https://arxiv.org/abs/1703.03400)
[2] Emanuel Todorov, Tom Erez, Yuval Tassa, "MuJoCo: A physics engine for
model-based control", 2012
(https://homes.cs.washington.edu/~todorov/papers/TodorovIROS12.pdf)
"""
#### 接受任务、任务的目标方向键值对、不进行归一化动作空间，声明对父类的继承。
def __init__(self, task={}):
self._task = task
self._goal_dir = task.get('direction', 1)
self._action_scaling = None
super(AntDirEnv, self).__init__()
def step(self, action):
#### 从仿真器中获取蚂蚁的采取动作前的位置（位姿）xposbefore；在仿真器中采用self.frame_skip帧率执行action动作后进行仿真；从仿真器中获取蚂蚁的采取动作后的位置（位姿）xposafter；
xposbefore = self.get_body_com("torso")[0]
self.do_simulation(action, self.frame_skip)
xposafter = self.get_body_com("torso")[0]
#### 前馈速度用速度公式求出来；然后获得前馈的速度有关的奖励；幸存奖励是0.05；控制损失应该是一个幅度，如果控制信号越大，那么损失就越大；接触摩擦力损失按公式计算。
forward_vel = (xposafter - xposbefore) / self.dt
forward_reward = self._goal_dir * forward_vel
survive_reward = 0.05
ctrl_cost = 0.5 * 1e-2 * np.sum(np.square(action / self.action_scaling))
contact_cost = 0.5 * 1e-3 * np.sum(
np.square(np.clip(self.sim.data.cfrc_ext, -1, 1)))
#### 从上上一个类中获得位姿、接触摩擦力和其他一些从参数。计算奖励。self.state_vector()的意思是将蚂蚁的位姿[1]和速度[2]变成一个向量。如果状态信息都是有限值，且速度在[0.2,1.0]的范围内，那么就是没有完成notdone=True。反之就是完成了done=True。infos记录奖励信息。最后返回一个元组。
observation = self._get_obs()
reward = forward_reward - ctrl_cost - contact_cost + survive_reward
state = self.state_vector()
notdone = np.isfinite(state).all() \
and state[2] >= 0.2 and state[2] <= 1.0
done = not notdone
infos = dict(reward_forward=forward_reward, reward_ctrl=-ctrl_cost,
reward_contact=-contact_cost, reward_survive=survive_reward,
task=self._task)
return (observation, reward, done, infos)
#### 从伯努力分布中采样num_tasks个任务，在每个任务中记录键值对'direction'和数值。
def sample_tasks(self, num_tasks):
directions = 2 * self.np_random.binomial(1, p=0.5, size=(num_tasks,)) - 1
tasks = [{'direction': direction} for direction in directions]
return tasks
#### 重置任务。
def reset_task(self, task):
self._task = task
self._goal_dir = task['direction']
AntPosEnv() 类
class AntPosEnv(AntEnv):
#### 这个类是具有目标位置的蚂蚁环境，继承AntEnv()类。奖励函数由：控制消耗、接触消耗、幸存奖励，当前位置和目标位置之间的惩罚项。从均匀分布x和y都是[-3, 3]的均匀分布中采样目标位置。
"""Ant environment with target position. The code is adapted from
https://github.com/cbfinn/maml_rl/blob/9c8e2ebd741cb0c7b8bf2d040c4caeeb8e06cc95/rllab/envs/mujoco/ant_env_rand_goal.py
The ant follows the dynamics from MuJoCo [1], and receives at each
time step a reward composed of a control cost, a contact cost, a survival
reward, and a penalty equal to its L1 distance to the target position. The
tasks are generated by sampling the target positions from the uniform
distribution on [-3, 3]^2.
[1] Emanuel Todorov, Tom Erez, Yuval Tassa, "MuJoCo: A physics engine for
model-based control", 2012
(https://homes.cs.washington.edu/~todorov/papers/TodorovIROS12.pdf)
"""
#### 接受任务、任务的目标方向键值对、不进行归一化动作空间，声明对父类的继承。
def __init__(self, task={}):
self._task = task
self._goal_pos = task.get('position', np.zeros((2,), dtype=np.float32))
self._action_scaling = None
super(AntPosEnv, self).__init__()
def step(self, action):
#### 在仿真器中采用self.frame_skip帧率执行action动作后进行仿真；从仿真器中获取蚂蚁的采取动作后的位置xyposafter；
self.do_simulation(action, self.frame_skip)
xyposafter = self.get_body_com("torso")[:2]
#### 当前位置和目标位置的曼哈顿距离作为奖励；幸存奖励是0.05；控制损失应该是一个幅度，如果控制信号越大，那么损失就越大；接触摩擦力损失按公式计算。
goal_reward = -np.sum(np.abs(xyposafter - self._goal_pos)) + 4.0
survive_reward = 0.05
ctrl_cost = 0.5 * 1e-2 * np.sum(np.square(action / self.action_scaling))
contact_cost = 0.5 * 1e-3 * np.sum(
np.square(np.clip(self.sim.data.cfrc_ext, -1, 1)))
#### 从上上上一个类中获得位置、接触摩擦力和其他一些从参数。计算奖励。self.state_vector()的意思是将蚂蚁的位姿[1]和速度[2]变成一个向量。如果状态信息都是有限值，且速度在[0.2,1.0]的范围内，那么就是没有完成notdone=True。反之就是完成了done=True。infos记录奖励信息。最后返回一个元组。
observation = self._get_obs()
reward = goal_reward - ctrl_cost - contact_cost + survive_reward
state = self.state_vector()
notdone = np.isfinite(state).all() \
and state[2] >= 0.2 and state[2] <= 1.0
done = not notdone
infos = dict(reward_goal=goal_reward, reward_ctrl=-ctrl_cost,
reward_contact=-contact_cost, reward_survive=survive_reward,
task=self._task)
return (observation, reward, done, infos)
#### 从[-3.0, 3.0]和[-3.0, 3.0]的均匀分布中采样num_tasks个任务，在每个任务中记录键值对'position'和数值。
def sample_tasks(self, num_tasks):
positions = self.np_random.uniform(-3.0, 3.0, size=(num_tasks, 2))
tasks = [{'position': position} for position in positions]
return tasks
#### 重置任务。
def reset_task(self, task):
self._task = task
self._goal_pos = task['position']
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