gr-libs 0.1.6.post1__py3-none-any.whl → 0.1.8__py3-none-any.whl

gr_libs/environment/utils/utils.py

@@ -1,17 +1,27 @@
 import logging
 import sys
-from gr_libs.environment.environment import MINIGRID, PANDA, PARKING, POINT_MAZE, EnvProperty, MinigridProperty, PandaProperty, ParkingProperty, PointMazeProperty
+from gr_libs.environment.environment import (
+    MINIGRID,
+    PANDA,
+    PARKING,
+    POINT_MAZE,
+    EnvProperty,
+    MinigridProperty,
+    PandaProperty,
+    ParkingProperty,
+    PointMazeProperty,
+)
 
 
 def domain_to_env_property(domain_name: str):
-	if domain_name == MINIGRID:
-		return MinigridProperty
-	elif domain_name == PARKING:
-		return ParkingProperty
-	elif domain_name == PANDA:
-		return PandaProperty
-	elif domain_name == POINT_MAZE:
-		return PointMazeProperty
-	else:
-		logging.error(f"Domain {domain_name} is not supported.")
-		sys.exit(1)
+    if domain_name == MINIGRID:
+        return MinigridProperty
+    elif domain_name == PARKING:
+        return ParkingProperty
+    elif domain_name == PANDA:
+        return PandaProperty
+    elif domain_name == POINT_MAZE:
+        return PointMazeProperty
+    else:
+        logging.error(f"Domain {domain_name} is not supported.")
+        sys.exit(1)

gr_libs/metrics/__init__.py

@@ -0,0 +1,5 @@
+from .metrics import (
+    mean_p_value,
+    mean_wasserstein_distance,
+    stochastic_amplified_selection,
+)

gr_libs/metrics/metrics.py

@@ -7,6 +7,7 @@ from typing import Callable, Generator, List, Dict, Tuple, Any
 from math import log2
 from scipy.stats import wasserstein_distance
 from gymnasium.spaces.discrete import Discrete
+
 # import torch
 # from torch.distributions.categorical import Categorical
 
@@ -26,21 +27,24 @@ def kl_divergence(p1: List[float], p2: List[float]) -> float:
     Returns:
         float: The KL-divergence between p1 and p2
     """
-    assert (len(p1) == len(p2))
+    assert len(p1) == len(p2)
     return sum(p1[i] * log2(p1[i] / p2[i]) for i in range(len(p1)))
 
 
-def kl_divergence_norm_softmax(observations: List[Tuple[State, Any]], agent, actions: Discrete):
+def kl_divergence_norm_softmax(
+    observations: List[Tuple[State, Any]], agent, actions: Discrete
+):
     distances = []
     p_traj = traj_to_policy(observations=observations, actions=actions)
 
     for (observation, agent_pos), action in observations:
-        state = observation['image']
+        state = observation["image"]
         state_pickled = dill.dumps(state)
 
         qp1 = p_traj[state_pickled]
         qp2_flatten_distribution_list: List[float] = agent.get_actions_probabilities(
-            observation=(observation, agent_pos))
+            observation=(observation, agent_pos)
+        )
         distances.append(kl_divergence(qp1, qp2_flatten_distribution_list))
     return np.mean(distances)
 
@@ -53,9 +57,10 @@ def amplify(values, alpha=1.0):
     Returns:
         np.array: amplified softmax probabilities
     """
-    values = values[:3]**alpha # currently only choose to turn or move forward
+    values = values[:3] ** alpha  # currently only choose to turn or move forward
     return values / np.sum(values)
 
+
 def stochastic_amplified_selection(actions_probs, alpha=8.0):
     action_probs_amplified = amplify(actions_probs, alpha)
     choice = np.random.choice(len(action_probs_amplified), p=action_probs_amplified)
@@ -63,12 +68,15 @@ def stochastic_amplified_selection(actions_probs, alpha=8.0):
         choice = 6
     return choice
 
+
 def stochastic_selection(actions_probs):
     return np.random.choice(len(actions_probs), p=actions_probs)
 
+
 def greedy_selection(actions_probs):
     return np.argmax(actions_probs)
 
+
 def measure_average_sequence_distance(seq1, seq2):
     """Measures the sequence similarity between two sequences of observations and actions.
 
@@ -82,19 +90,22 @@ def measure_average_sequence_distance(seq1, seq2):
 
     # Ensure both sequences have the same length
     min_seq_len = np.min([len(seq1), len(seq2)])
-    assert np.max([len(seq1), len(seq2)]) <= 30*min_seq_len, "We can't really measure similarity in case the sequences are really not the same... maybe just return a default NOT_SIMILAR here."
+    assert (
+        np.max([len(seq1), len(seq2)]) <= 30 * min_seq_len
+    ), "We can't really measure similarity in case the sequences are really not the same... maybe just return a default NOT_SIMILAR here."
 
     # Calculate the Euclidean distance between corresponding elements in the sequences
     distances = []
     for i in range(0, min_seq_len):
-        distances.append(np.sum(np.abs(np.array(seq1[i])-np.array(seq2[i]))))
+        distances.append(np.sum(np.abs(np.array(seq1[i]) - np.array(seq2[i]))))
 
     # Calculate the average distance over all elements
     return np.mean(np.array(distances))
 
 
-def traj_to_policy(observations: List[Tuple[State, Any]], actions: Discrete, epsilon: float = 0.) -> Dict[
-    str, List[float]]:
+def traj_to_policy(
+    observations: List[Tuple[State, Any]], actions: Discrete, epsilon: float = 0.0
+) -> Dict[str, List[float]]:
     # converts a trajectory from a planner to a policy
     # where the taken action has 99.99999% probability
     trajectory_as_policy = {}
@@ -104,22 +115,28 @@ def traj_to_policy(observations: List[Tuple[State, Any]], actions: Discrete, eps
 
         actions_len = actions.n
         qs = [1e-6 + epsilon / actions_len for _ in range(actions_len)]
-        qs[action_index] = 1. - 1e-6 * (actions_len - 1) - epsilon
+        qs[action_index] = 1.0 - 1e-6 * (actions_len - 1) - epsilon
 
-        state = observation['image']
+        state = observation["image"]
         state_pickled = dill.dumps(state)
         trajectory_as_policy[state_pickled] = qs
     return trajectory_as_policy
 
-def pass_observation_patcher(observations: List[Any], agent: RLAgent) -> Generator[None, None, None]:
+
+def pass_observation_patcher(
+    observations: List[Any], agent: RLAgent
+) -> Generator[None, None, None]:
     for observation in observations:
         yield observation
 
+
 def mean_wasserstein_distance(
-        observations: List[Tuple[State, Any]],
-        agent: DeepRLAgent,
-        actions: gymnasium.spaces.Box,
-        observation_patcher: Callable[[List[Any], RLAgent], Generator[None, None, None]] = pass_observation_patcher
+    observations: List[Tuple[State, Any]],
+    agent: DeepRLAgent,
+    actions: gymnasium.spaces.Box,
+    observation_patcher: Callable[
+        [List[Any], RLAgent], Generator[None, None, None]
+    ] = pass_observation_patcher,
 ):
     distances = []
 
@@ -141,22 +158,28 @@ def mean_wasserstein_distance(
             wasserstein_distances.append(
                 wasserstein_distance([observation_action], [actor_mean])
             )
-        distances.append(mean(wasserstein_distances))
-    return mean(distances)
+        distances.append(np.mean(wasserstein_distances))
+    return np.mean(distances)
 
 
-def mean_action_distance_continuous(observations: List[Tuple[State, Any]], agent: DeepRLAgent, actions: gymnasium.spaces.Box):
+def mean_action_distance_continuous(
+    observations: List[Tuple[State, Any]],
+    agent: DeepRLAgent,
+    actions: gymnasium.spaces.Box,
+):
     distances = []
     for observation, action in observations:
         action2, _ = agent.model.predict(
             observation,
             state=None,
             deterministic=True,
-            episode_start=np.ones((1,), dtype=bool)
+            episode_start=np.ones((1,), dtype=bool),
         )
         action_arr, action2_arr = action[0], action2[0]
         print(f"actor means:{action2}")
-        assert len(action_arr) == len(action2_arr), f"Actions should be on the same length:{action},{action2}"
+        assert len(action_arr) == len(
+            action2_arr
+        ), f"Actions should be on the same length:{action},{action2}"
 
         total_diff = 0
         # total_diff = []
@@ -165,24 +188,29 @@ def mean_action_distance_continuous(observations: List[Tuple[State, Any]], agent
         # distances.append(statistics.mean(total_diff))
         distances.append(total_diff)
     # print(f"distances:{distances}")
-    return mean(distances)
+    return np.mean(distances)
 
 
-def set_agent_goal_observation(observations: List[Any], agent: RLAgent) -> Generator[None, None, None]:
+def set_agent_goal_observation(
+    observations: List[Any], agent: RLAgent
+) -> Generator[None, None, None]:
     copy_observation = observations.copy()
     for observation, action in copy_observation:
-        observation['desired_goal'] = agent.goal
+        observation["desired_goal"] = agent.goal
         yield observation, action
 
 
 def z_score(x, mean_action: float, std_dev: float):
     return (x - mean_action) / std_dev
 
+
 def mean_p_value(
-        observations: List[Tuple[State, Any]],
-        agent: DeepRLAgent,
-        actions: gymnasium.spaces.Box,
-        observation_patcher: Callable[[List[Any], RLAgent], Generator[None, None, None]] = pass_observation_patcher
+    observations: List[Tuple[State, Any]],
+    agent: DeepRLAgent,
+    actions: gymnasium.spaces.Box,
+    observation_patcher: Callable[
+        [List[Any], RLAgent], Generator[None, None, None]
+    ] = pass_observation_patcher,
 ):
     distances = []
     for observation, observed_action in observation_patcher(observations, agent):
@@ -194,25 +222,39 @@ def mean_p_value(
         observed_actions = observed_action[0]
         log_std_dev = log_std_dev[0]
 
-        if len(actor_means) != len(observed_actions) or len(actor_means) != len(log_std_dev) or len(observed_actions) != len(log_std_dev):
+        if (
+            len(actor_means) != len(observed_actions)
+            or len(actor_means) != len(log_std_dev)
+            or len(observed_actions) != len(log_std_dev)
+        ):
             raise Exception(
                 f"Length of observed actions, actor mean and std-dev should be equal! "
                 f"{len(observed_actions)},{len(actor_means)},{len(log_std_dev)}"
             )
         z_scores = []
-        for actor_mean, observation_action, action_log_std_dev in zip(actor_means, observed_actions, log_std_dev):
+        for actor_mean, observation_action, action_log_std_dev in zip(
+            actor_means, observed_actions, log_std_dev
+        ):
             z_scores.append(
-                math.fabs(z_score(observation_action, actor_mean, math.pow(2, math.fabs(action_log_std_dev))))
+                math.fabs(
+                    z_score(
+                        observation_action,
+                        actor_mean,
+                        math.pow(2, math.fabs(action_log_std_dev)),
+                    )
+                )
             )
-        mean_distances = mean(z_scores)
+        mean_distances = np.mean(z_scores)
 
         distances.append(mean_distances)
-    return mean(distances)
+    return np.mean(distances)
+
 
 def normalize(values: List[float]) -> List[float]:
     values /= sum(values)
     return values
 
+
 def max(values: List[float]) -> List[float]:
     if not len(values):
         return values
@@ -220,4 +262,4 @@ def max(values: List[float]) -> List[float]:
     argmax = vals.argmax()
     vals[:] = 0.0
     vals[argmax] = 1.0
-    return vals
+    return vals

gr_libs/ml/__init__.py

@@ -1,6 +1,8 @@
 from ..ml.utils import device, seed, synthesize
+
 # from ml.neural import PPOAlgo
 from ..ml.tabular import TabularQLearner
+
 # from ml.neural import ACModel, RecurrentACModel
 from ..ml.neural import DictList
 from ..ml.agent import Agent

gr_libs/ml/agent.py

@@ -2,6 +2,7 @@ import torch
 
 from gr_libs.ml import utils
 from gr_libs.ml.utils.other import device
+
 # from ml.neural import ACModel
 
 
@@ -12,15 +13,27 @@ class Agent:
     - to choose an action given an observation,
     - to analyze the feedback (i.e. reward and done state) of its action."""
 
-    def __init__(self, obs_space, action_space, model_dir,
-                 argmax=False, num_envs=1, use_memory=True, use_text=False):
+    def __init__(
+        self,
+        obs_space,
+        action_space,
+        model_dir,
+        argmax=False,
+        num_envs=1,
+        use_memory=True,
+        use_text=False,
+    ):
         obs_space, self.preprocess_obss = utils.get_obss_preprocessor(obs_space)
-        self.acmodel = ACModel(obs_space, action_space, use_memory=use_memory, use_text=use_text)
+        self.acmodel = ACModel(
+            obs_space, action_space, use_memory=use_memory, use_text=use_text
+        )
         self.argmax = argmax
         self.num_envs = num_envs
 
         if self.acmodel.recurrent:
-            self.memories = torch.zeros(self.num_envs, self.acmodel.memory_size, device=device)
+            self.memories = torch.zeros(
+                self.num_envs, self.acmodel.memory_size, device=device
+            )
 
         self.acmodel.load_state_dict(utils.get_model_state(model_dir))
         self.acmodel.to(device)
@@ -49,8 +62,10 @@ class Agent:
 
     def analyze_feedbacks(self, rewards, dones):
         if self.acmodel.recurrent:
-            masks = 1 - torch.tensor(dones, dtype=torch.float, device=device).unsqueeze(1)
+            masks = 1 - torch.tensor(dones, dtype=torch.float, device=device).unsqueeze(
+                1
+            )
             self.memories *= masks
 
     def analyze_feedback(self, reward, done):
-        return self.analyze_feedbacks([reward], [done])
+        return self.analyze_feedbacks([reward], [done])

gr_libs/ml/base/__init__.py

@@ -1 +1 @@
-from gr_libs.ml.base.rl_agent import RLAgent, State, ContextualAgent
+from gr_libs.ml.base.rl_agent import RLAgent, State, ContextualAgent

gr_libs/ml/base/rl_agent.py

@@ -4,22 +4,24 @@ import numpy as np
 
 State = Any
 
+
 class ContextualAgent:
     def __init__(self, problem_name, problem_goal, agent):
         self.problem_name = problem_name
         self.problem_goal = problem_goal
         self.agent = agent
 
+
 class RLAgent(ABC):
     def __init__(
-            self,
-            episodes: int,
-            decaying_eps: bool,
-            epsilon: float,
-            learning_rate: float,
-            gamma: float,
-            problem_name: str,
-            domain_name: str
+        self,
+        episodes: int,
+        decaying_eps: bool,
+        epsilon: float,
+        learning_rate: float,
+        gamma: float,
+        problem_name: str,
+        domain_name: str,
     ):
         self.episodes = episodes
         self.decaying_eps = decaying_eps
@@ -46,9 +48,10 @@ class RLAgent(ABC):
 
     def update_states_counter(self, observation_str: str):
         if observation_str in self.states_counter:
-            self.states_counter[observation_str] = self.states_counter[observation_str] + 1
+            self.states_counter[observation_str] = (
+                self.states_counter[observation_str] + 1
+            )
         else:
             self.states_counter[observation_str] = 1
         if len(self.states_counter) % 10000 == 0:
             print(f"probably error to many {len(self.states_counter)}")
-

gr_libs/ml/consts.py

@@ -19,4 +19,4 @@ OPTIM_EPS = 1e-8
 OPTIM_ALPHA = 0.99
 CLIP_EPS = 0.2
 RECURRENCE = 1
-TEXT = False
+TEXT = False