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from collections import defaultdict
from functools import partial as bind
import elements
import embodied
import numpy as np
def eval_only(make_agent, make_env, make_logger, args):
assert args.from_checkpoint
agent = make_agent()
logger = make_logger()
logdir = elements.Path(args.logdir)
logdir.mkdir()
print('Logdir', logdir)
step = logger.step
usage = elements.Usage(**args.usage)
agg = elements.Agg()
epstats = elements.Agg()
episodes = defaultdict(elements.Agg)
should_log = elements.when.Clock(args.log_every)
policy_fps = elements.FPS()
@elements.timer.section('logfn')
def logfn(tran, worker):
episode = episodes[worker]
tran['is_first'] and episode.reset()
episode.add('score', tran['reward'], agg='sum')
episode.add('length', 1, agg='sum')
episode.add('rewards', tran['reward'], agg='stack')
for key, value in tran.items():
isimage = (value.dtype == np.uint8) and (value.ndim == 3)
if isimage and worker == 0:
episode.add(f'policy_{key}', value, agg='stack')
elif key.startswith('log/'):
assert value.ndim == 0, (key, value.shape, value.dtype)
episode.add(key + '/avg', value, agg='avg')
episode.add(key + '/max', value, agg='max')
episode.add(key + '/sum', value, agg='sum')
if tran['is_last']:
result = episode.result()
logger.add({
'score': result.pop('score'),
'length': result.pop('length'),
}, prefix='episode')
rew = result.pop('rewards')
if len(rew) > 1:
result['reward_rate'] = (np.abs(rew[1:] - rew[:-1]) >= 0.01).mean()
epstats.add(result)
fns = [bind(make_env, i) for i in range(args.envs)]
driver = embodied.Driver(fns, parallel=(not args.debug))
driver.on_step(lambda tran, _: step.increment())
driver.on_step(lambda tran, _: policy_fps.step())
driver.on_step(logfn)
cp = elements.Checkpoint()
cp.agent = agent
cp.load(args.from_checkpoint, keys=['agent'])
print('Start evaluation')
policy = lambda *args: agent.policy(*args, mode='eval')
driver.reset(agent.init_policy)
while step < args.steps:
driver(policy, steps=10)
if should_log(step):
logger.add(agg.result())
logger.add(epstats.result(), prefix='epstats')
logger.add(usage.stats(), prefix='usage')
logger.add({'fps/policy': policy_fps.result()})
logger.add({'timer': elements.timer.stats()['summary']})
logger.write()
logger.close()
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