Features/openai hacks #35
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…ork on pusher and pick and place (probably slider too but didnt test) 1. Online observation normalization and clipping 2. Adding additional loss term penalizing large preactivations in the policy network 3. Clipping Q-values in the Q network to stay within semantic return bounds
vitchyr
reviewed
Feb 22, 2019
| @@ -4,7 +4,7 @@ | |||
| import numpy as np | |||
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| class GaussianAndEpislonStrategy(RawExplorationStrategy, Serializable): | |||
rlkit/torch/networks.py
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| self.composite_normalizer = composite_normalizer | ||
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| def forward(self, obs, **kwargs): | ||
| if self.composite_normalizer: |
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This check seems a bit redundant given the assert statement in __init__.
rlkit/torch/networks.py
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| def __init__( | ||
| self, | ||
| *args, | ||
| composite_normalizer: CompositeNormalizer = None, |
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Seems like we can just make this a required argument rather than kwarg.
rlkit/torch/td3/td3.py
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| if self.clip_q: | ||
| target_q_values = torch.clamp( | ||
| target_q_values, | ||
| -1/(1-self.discount), |
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Can you make this a parameter rather than hard-coding it? It could be something like:
if max_q_value is None:
max_q_value = -1/(1-self.discount) # for HER sparse rewards.
in __init__.
…to features/openai-hacks
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I changed it to clip the networks instead, this should be easier. |
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Sorry for the delay...
These are the changes for successful pushing/pick and place in state space + typo in gaussian epsilon
I tried to cleanup the commit history with git rebase -i ec231e7 but it's behaving strangely; after I run that command, it pulls a much longer history of the commits, including some from the main branch.