Intended UsageΒΆ
The intended command line usage is through the gps_main.py script:
cd /path/to/gps
python python/gps/gps_main.py -h
usage: gps_main.py [-h] [-n] [-t] [-r N] experiment
Run the Guided Policy Search algorithm.
positional arguments:
experiment experiment name
optional arguments:
-h, --help show this help message and exit
-n, --new create new experiment
-t, --targetsetup run target setup
-r N, --resume N resume training from iter N
Usage:
python python/gps/gps_main.py <EXPERIMENT_NAME> -n
Creates a new experiment folder at
experiments/<EXPERIMENT_NAME>
with an empty hyperparams filehyperparams.py
. Copy and paste your oldhyperparams.py
from your previous experiment and make any modifications.python python/gps/gps_main.py <EXPERIMENT_NAME> -t
(for ROS only)Opens the Target Setup GUI, for target setup when using ROS. See the Target Setup GUI section for details.
python python/gps/gps_main.py <EXPERIMENT_NAME>
Opens the GPS Training GUI and runs the guided policy search algorithm for your specific experiment hyperparams. See the Training GUI section for details.
python python/gps/gps_main.py <EXPERIMENT_NAME> -r N
Resumes the guided policy search algorithm, loading the algorithm state from iteration N. (The file
experiments/<EXPERIMENT_NAME>/data_files/algorithm_itr_<N>.pkl
must exist.)
For your reference, your experiments folder contains the following:
data_files/
- holds the data files.data_files/algorithm_itr_<N>.pkl
- the algorithm state at iteration N.data_files/traj_samples_itr_<N>.pkl
- the trajectory samples collected at iteration N.data_files/pol_samples_itr_<N>.pkl
- the policy samples collected at iteration N.data_files/figure_itr_<N>.png
- an image of the GPS Training GUI figure at iteration N.
hyperparams.py
- the hyperparams used for this experiment. For more details, see this page.log.txt
- the log text of output from the Target Setup GUI and the GPS Training GUI.targets.npz
- the initial and target state used for this experiment (ROS agent only – set for other agents in hyperparams.py)