add proper handling of length_scale_aditive_sim_gp

lasgroup · Oct 16, 2023 · e1be256 · e1be256
1 parent d280183
commit e1be256
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Showing 2 changed files with 11 additions and 5 deletions.
diff --git a/experiments/offline_rl_from_recorded_data/exp.py b/experiments/offline_rl_from_recorded_data/exp.py
@@ -42,7 +42,8 @@ def experiment(horizon_len: int,
                num_frame_stack: int = 3,
                bandwidth_svgd: float = 2.0,
                num_epochs: int = 50,
-               max_train_steps: int = 100_000
+               max_train_steps: int = 100_000,
+               length_scale_aditive_sim_gp: float = 1.0,
                ):
     bnn_train_steps = min(num_epochs * num_offline_collected_transitions, max_train_steps)
 
@@ -117,6 +118,7 @@ def experiment(horizon_len: int,
                        bandwidth_svgd=bandwidth_svgd,
                        num_epochs=num_epochs,
                        max_train_steps=max_train_steps,
+                       length_scale_aditive_sim_gp=length_scale_aditive_sim_gp,
                        )
 
     total_config = SAC_KWARGS | config_dict
@@ -177,7 +179,8 @@ def experiment(horizon_len: int,
         sim = AdditiveSim(base_sims=[sim,
                                      GaussianProcessSim(sim.input_size, sim.output_size,
                                                         output_scale=outputscales_racecar,
-                                                        length_scale=1.0, consider_only_first_k_dims=None)
+                                                        length_scale=length_scale_aditive_sim_gp,
+                                                        consider_only_first_k_dims=None)
                                      ])
         if predict_difference:
             sim = PredictStateChangeWrapper(sim)
@@ -277,6 +280,7 @@ def main(args):
         bandwidth_svgd=args.bandwidth_svgd,
         num_epochs=args.num_epochs,
         max_train_steps=args.max_train_steps,
+        length_scale_aditive_sim_gp=args.length_scale_aditive_sim_gp
     )
 
 
@@ -300,7 +304,7 @@ def main(args):
     parser.add_argument('--high_fidelity', type=int, default=0)
     parser.add_argument('--num_measurement_points', type=int, default=8)
     parser.add_argument('--bnn_batch_size', type=int, default=32)
-    parser.add_argument('--test_data_ratio', type=float, default=0.0)
+    parser.add_argument('--test_data_ratio', type=float, default=0.1)
     parser.add_argument('--share_of_x0s_in_sac_buffer', type=float, default=0.5)
     parser.add_argument('--eval_only_on_init_states', type=int, default=1)
     parser.add_argument('--eval_on_all_offline_data', type=int, default=1)
@@ -311,5 +315,6 @@ def main(args):
     parser.add_argument('--bandwidth_svgd', type=float, default=0.2)
     parser.add_argument('--num_epochs', type=int, default=20)
     parser.add_argument('--max_train_steps', type=int, default=2_000)
+    parser.add_argument('--length_scale_aditive_sim_gp', type=float, default=1.0)
     args = parser.parse_args()
     main(args)
diff --git a/experiments/offline_rl_from_recorded_data/launcher.py b/experiments/offline_rl_from_recorded_data/launcher.py
@@ -8,7 +8,7 @@
     'seed': list(range(5)),
     'project_name': [PROJECT_NAME],
     'sac_num_env_steps': [2_000_000],
-    'num_epochs': [20, 50],
+    'num_epochs': [50],
     'max_train_steps': [100_000],
     'learnable_likelihood_std': ['yes'],
     'include_aleatoric_noise': [0],
@@ -27,7 +27,8 @@
     'train_sac_only_from_init_states': [0],
     'data_from_simulation': [0],
     'num_frame_stack': [3],
-    'bandwidth_svgd': [0.05, 0.1, 0.2]
+    'bandwidth_svgd': [0.05, 0.1, 0.2],
+    'length_scale_aditive_sim_gp': [0.2, 1.0, 5.0]
 }
 
 _applicable_configs_no_sim_prior = {'use_sim_prior': [0],