add launcher for pretraining bnn model

experiments/offline_rl_from_recorded_data/launcher_pretrain_bnn.py

@@ -0,0 +1,71 @@
+import exp
+from experiments.util import generate_run_commands, generate_base_command, dict_permutations
+
+PROJECT_NAME = 'OfflineRLPretrainBNN'
+
+_applicable_configs = {
+    'horizon_len': [200],
+    'seed': list(range(5)),
+    'project_name': [PROJECT_NAME],
+    'sac_num_env_steps': [2_000_000],
+    'num_epochs': [20, 50],
+    'max_train_steps': [100_000],
+    'learnable_likelihood_std': ['yes'],
+    'include_aleatoric_noise': [0],
+    'best_bnn_model': [1],
+    'best_policy': [1],
+    'margin_factor': [20.0],
+    'ctrl_cost_weight': [0.005],
+    'ctrl_diff_weight': [1.0],
+    'num_offline_collected_transitions': [20_000],
+    'test_data_ratio': [0.0],
+    'eval_on_all_offline_data': [1],
+    'eval_only_on_init_states': [1],
+    'share_of_x0s_in_sac_buffer': [0.5],
+    'bnn_batch_size': [32],
+    'likelihood_exponent': [1.0],
+    'train_sac_only_from_init_states': [0],
+    'data_from_simulation': [0],
+    'num_frame_stack': [3],
+    'bandwidth_svgd': [0.05, 0.1, 0.2]
+}
+
+_applicable_configs_no_sim_prior = {'use_sim_prior': [0],
+                                    'use_grey_box': [0],
+                                    'high_fidelity': [0],
+                                    'predict_difference': [1],
+                                    'num_measurement_points': [8]
+                                    } | _applicable_configs
+# _applicable_configs_high_fidelity = {'use_sim_prior': [1],
+#                                      'use_grey_box': [0],
+#                                      'high_fidelity': [1],
+#                                      'predict_difference': [1],
+#                                      'num_measurement_points': [8]} | _applicable_configs
+# _applicable_configs_low_fidelity = {'use_sim_prior': [1],
+#                                     'use_grey_box': [0],
+#                                     'high_fidelity': [0],
+#                                     'predict_difference': [1],
+#                                     'num_measurement_points': [8]} | _applicable_configs
+#
+# _applicable_configs_grey_box = {'use_sim_prior': [0],
+#                                 'high_fidelity': [0],
+#                                 'use_grey_box': [1],
+#                                 'predict_difference': [0],
+#                                 'num_measurement_points': [8]} | _applicable_configs
+
+all_flags_combinations = dict_permutations(_applicable_configs_no_sim_prior)
+
+
+def main():
+    command_list = []
+    for flags in all_flags_combinations:
+        cmd = generate_base_command(exp, flags=flags)
+        command_list.append(cmd)
+
+    # submit jobs
+    generate_run_commands(command_list, num_cpus=1, num_gpus=1, mode='euler', duration='3:59:00', prompt=True,
+                          mem=16000)
+
+
+if __name__ == '__main__':
+    main()