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| import os | |
| import time | |
| from matplotlib import interactive | |
| import numpy as np | |
| import gradio as gr | |
| from MonteCarloAgent import MonteCarloAgent | |
| import scipy.ndimage | |
| import cv2 | |
| default_n_test_episodes = 10 | |
| default_max_steps = 500 | |
| # For the dropdown list of policies | |
| policies_folder = "policies" | |
| try: | |
| all_policies = [ | |
| file for file in os.listdir(policies_folder) if file.endswith(".npy") | |
| ] | |
| except FileNotFoundError: | |
| print("ERROR: No policies folder found!") | |
| all_policies = [] | |
| # All supported agents | |
| agent_map = { | |
| "MonteCarloAgent": MonteCarloAgent, | |
| # TODO: Add DP Agent | |
| } | |
| action_map = { | |
| "CliffWalking-v0": { | |
| 0: "up", | |
| 1: "right", | |
| 2: "down", | |
| 3: "left", | |
| }, | |
| } | |
| # Global variables to allow changing it on the fly | |
| live_render_fps = 10 | |
| live_epsilon = 0.0 | |
| live_paused = False | |
| def change_render_fps(x): | |
| print("Changing render fps:", x) | |
| global live_render_fps | |
| live_render_fps = x | |
| def change_epsilon(x): | |
| print("Changing greediness:", x) | |
| global live_epsilon | |
| live_epsilon = x | |
| def change_paused(x): | |
| print("Changing paused:", x) | |
| global live_paused | |
| live_paused = x | |
| # change the text to resume | |
| return gr.update(value="▶️ Resume" if x else "⏸️ Pause") | |
| def run(policy_fname, n_test_episodes, max_steps, render_fps, epsilon): | |
| global live_render_fps, live_epsilon | |
| live_render_fps = render_fps | |
| live_epsilon = epsilon | |
| print("Running...") | |
| print(f"- n_test_episodes: {n_test_episodes}") | |
| print(f"- max_steps: {max_steps}") | |
| print(f"- render_fps: {live_render_fps}") | |
| policy_path = os.path.join(policies_folder, policy_fname) | |
| props = policy_fname.split("_") | |
| agent_type, env_name = props[0], props[1] | |
| agent = agent_map[agent_type](env_name, render_mode="rgb_array") | |
| agent.load_policy(policy_path) | |
| env_action_map = action_map.get(env_name) | |
| solved, rgb_array, policy_viz = None, None, None | |
| episode, step, state, action, reward = 0, 0, 0, 0, 0 | |
| episodes_solved = 0 | |
| def ep_str(episode): | |
| return f"{episode} / {n_test_episodes} ({(episode + 1) / n_test_episodes * 100:.2f}%)" | |
| def step_str(step): | |
| return f"{step + 1}" | |
| for episode in range(n_test_episodes): | |
| for step, (episode_hist, solved, rgb_array) in enumerate( | |
| agent.generate_episode( | |
| max_steps=max_steps, render=True, override_epsilon=True | |
| ) | |
| ): | |
| while live_paused: | |
| time.sleep(0.1) | |
| state, action, reward = episode_hist[-1] | |
| curr_policy = agent.Pi[state] | |
| viz_w = 512 | |
| viz_h = viz_w // len(curr_policy) | |
| policy_viz = np.zeros((viz_h, viz_w)) | |
| for i, p in enumerate(curr_policy): | |
| policy_viz[ | |
| :, | |
| i | |
| * (viz_w // len(curr_policy)) : (i + 1) | |
| * (viz_w // len(curr_policy)), | |
| ] = p | |
| policy_viz = scipy.ndimage.gaussian_filter(policy_viz, sigma=1.0) | |
| policy_viz = np.clip( | |
| policy_viz * (1.0 - live_epsilon) + live_epsilon / len(curr_policy), | |
| 0.0, | |
| 1.0, | |
| ) | |
| cv2.putText( | |
| policy_viz, | |
| str(action), | |
| ( | |
| int((action + 0.5) * viz_w // len(curr_policy) - 8), | |
| viz_h // 2 - 10, | |
| ), | |
| cv2.FONT_HERSHEY_SIMPLEX, | |
| 1.0, | |
| 1.0, | |
| 2, | |
| cv2.LINE_AA, | |
| ) | |
| if env_action_map: | |
| action_name = env_action_map.get(action, action) | |
| cv2.putText( | |
| policy_viz, | |
| action_name, | |
| ( | |
| int( | |
| (action + 0.5) * viz_w // len(curr_policy) | |
| - 5 * len(action_name) | |
| ), | |
| viz_h // 2 + 20, | |
| ), | |
| cv2.FONT_HERSHEY_SIMPLEX, | |
| 0.6, | |
| 1.0, | |
| 2, | |
| cv2.LINE_AA, | |
| ) | |
| print( | |
| f"Episode: {ep_str(episode + 1)} - step: {step_str(step)} - state: {state} - action: {action} - reward: {reward} (epsilon: {live_epsilon:.2f}) (frame time: {1 / render_fps:.2f}s)" | |
| ) | |
| # Live-update the agent's epsilon value for demonstration purposes | |
| agent.epsilon = live_epsilon | |
| yield agent_type, env_name, rgb_array, policy_viz, ep_str( | |
| episode + 1 | |
| ), ep_str(episodes_solved), step_str( | |
| step | |
| ), state, action, reward, "Running..." | |
| time.sleep(1 / live_render_fps) | |
| if solved: | |
| episodes_solved += 1 | |
| yield agent_type, env_name, rgb_array, policy_viz, ep_str(episode + 1), ep_str( | |
| episodes_solved | |
| ), step_str(step), state, action, reward, "Done!" | |
| with gr.Blocks(title="CS581 Demo") as demo: | |
| gr.components.HTML( | |
| "<h1>Reinforcement Learning: From Dynamic Programming to Monte-Carlo (Demo)</h1>" | |
| ) | |
| gr.components.HTML("<h3>Authors: Andrei Cozma and Landon Harris</h3>") | |
| gr.components.HTML("<h2>Select Configuration:</h2>") | |
| with gr.Row(): | |
| input_policy = gr.components.Dropdown( | |
| label="Policy Checkpoint", | |
| choices=all_policies, | |
| value=all_policies[0] if all_policies else "No policies found :(", | |
| ) | |
| out_environment = gr.components.Textbox(label="Resolved Environment") | |
| out_agent = gr.components.Textbox(label="Resolved Agent") | |
| with gr.Row(): | |
| input_n_test_episodes = gr.components.Slider( | |
| minimum=1, | |
| maximum=1000, | |
| value=default_n_test_episodes, | |
| label="Number of episodes", | |
| ) | |
| input_max_steps = gr.components.Slider( | |
| minimum=1, | |
| maximum=1000, | |
| value=default_max_steps, | |
| label="Max steps per episode", | |
| ) | |
| btn_run = gr.components.Button("▶️ Start", interactive=bool(all_policies)) | |
| gr.components.HTML("<h2>Live Statistics & Policy Visualization:</h2>") | |
| with gr.Row(): | |
| with gr.Column(): | |
| with gr.Row(): | |
| out_episode = gr.components.Textbox(label="Current Episode") | |
| out_step = gr.components.Textbox(label="Current Step") | |
| out_eps_solved = gr.components.Textbox(label="Episodes Solved") | |
| with gr.Row(): | |
| out_state = gr.components.Textbox(label="Current State") | |
| out_action = gr.components.Textbox(label="Chosen Action") | |
| out_reward = gr.components.Textbox(label="Reward Received") | |
| out_image_policy = gr.components.Image( | |
| value=np.ones((16, 128)), | |
| label="policy[state]", | |
| type="numpy", | |
| image_mode="RGB", | |
| ) | |
| gr.components.HTML("<h2>Live Customization:</h2>") | |
| with gr.Row(): | |
| input_epsilon = gr.components.Slider( | |
| minimum=0, | |
| maximum=1, | |
| value=live_epsilon, | |
| label="Epsilon (0 = greedy, 1 = random)", | |
| ) | |
| input_epsilon.change(change_epsilon, inputs=[input_epsilon]) | |
| input_render_fps = gr.components.Slider( | |
| minimum=1, maximum=60, value=live_render_fps, label="Simulation speed (fps)" | |
| ) | |
| input_render_fps.change(change_render_fps, inputs=[input_render_fps]) | |
| out_image_frame = gr.components.Image( | |
| label="Environment", type="numpy", image_mode="RGB" | |
| ) | |
| with gr.Row(): | |
| btn_pause = gr.components.Button("⏸️ Pause", interactive=True) | |
| btn_pause.click( | |
| fn=change_paused, | |
| inputs=[btn_pause], | |
| outputs=[btn_pause], | |
| ) | |
| out_msg = gr.components.Textbox( | |
| value="" | |
| if all_policies | |
| else "<h2>🚫 ERROR: No policies found! Please train an agent first or add a policy to the policies folder.<h2>", | |
| label="Status Message", | |
| ) | |
| btn_run.click( | |
| fn=run, | |
| inputs=[ | |
| input_policy, | |
| input_n_test_episodes, | |
| input_max_steps, | |
| input_render_fps, | |
| input_epsilon, | |
| ], | |
| outputs=[ | |
| out_agent, | |
| out_environment, | |
| out_image_frame, | |
| out_image_policy, | |
| out_episode, | |
| out_eps_solved, | |
| out_step, | |
| out_state, | |
| out_action, | |
| out_reward, | |
| out_msg, | |
| ], | |
| ) | |
| demo.queue(concurrency_count=3) | |
| demo.launch() | |