［Weekly RL with code］BipedalWalker.ipynb

-weekly-rl-with-code-bipedalwalker.ipynb

{
  "cells": [
    {
      "cell_type": "code",
      "execution_count": null,
      "metadata": {
        "id": "0Poh_O3YhpIc"
      },
      "outputs": [],
      "source": [
        "%%bash\n",
        "pip install gym[Box2D]    # BipedalWalker環境を含むBox2DのGym環境のインストール\n",
        "pip install stable-baselines3  # 強化学習ライブラリのインストール\n",
        "\n",
        "pip install pyglet==1.5.27\n",
        "git clone https://github.com/aakmsk/gymvideo.git"
      ]
    },
    {
      "cell_type": "code",
      "execution_count": 3,
      "metadata": {
        "id": "Du_IWNiUkR7Z"
      },
      "outputs": [],
      "source": [
        "import gym\n",
        "from stable_baselines3 import PPO\n",
        "from gymvideo.scripts.gymvideo import GymVideo"
      ]
    },
    {
      "cell_type": "markdown",
      "source": [
        "## 未学習状態"
      ],
      "metadata": {
        "id": "okNgGrHsM6bE"
      }
    },
    {
      "cell_type": "code",
      "execution_count": 6,
      "metadata": {
        "colab": {
          "base_uri": "https://localhost:8080/",
          "height": 386
        },
        "id": "gRVJAjOkEyfK",
        "outputId": "e6ed1ab6-6947-437f-b0c5-4d1529eb137b"
      },
      "outputs": [
        {
          "output_type": "display_data",
          "data": {
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              "    return ua.indexOf(\"MSIE \") > -1 || ua.indexOf(\"Trident/\") > -1;\n",
              "  }\n",
              "\n",
              "  /* Define the Animation class */\n",
              "  function Animation(frames, img_id, slider_id, interval, loop_select_id){\n",
              "    this.img_id = img_id;\n",
              "    this.slider_id = slider_id;\n",
              "    this.loop_select_id = loop_select_id;\n",
              "    this.interval = interval;\n",
              "    this.current_frame = 0;\n",
              "    this.direction = 0;\n",
              "    this.timer = null;\n",
              "    this.frames = new Array(frames.length);\n",
              "\n",
              "    for (var i=0; i<frames.length; i++)\n",
              "    {\n",
              "     this.frames[i] = new Image();\n",
              "     this.frames[i].src = frames[i];\n",
              "    }\n",
              "    var slider = document.getElementById(this.slider_id);\n",
              "    slider.max = this.frames.length - 1;\n",
              "    if (isInternetExplorer()) {\n",
              "        // switch from oninput to onchange because IE <= 11 does not conform\n",
              "        // with W3C specification. It ignores oninput and onchange behaves\n",
              "        // like oninput. In contrast, Mircosoft Edge behaves correctly.\n",
              "        slider.setAttribute('onchange', slider.getAttribute('oninput'));\n",
              "        slider.setAttribute('oninput', null);\n",
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              "\n",
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              "\n",
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              "    this.current_frame = frame;\n",
              "    document.getElementById(this.img_id).src =\n",
              "            this.frames[this.current_frame].src;\n",
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              "\n",
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              "  {\n",
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              "\n",
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              "  {\n",
              "    this.set_frame(Math.max(0, this.current_frame - 1));\n",
              "  }\n",
              "\n",
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              "    this.set_frame(0);\n",
              "  }\n",
              "\n",
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              "\n",
              "  Animation.prototype.slower = function()\n",
              "  {\n",
              "    this.interval /= 0.7;\n",
              "    if(this.direction > 0){this.play_animation();}\n",
              "    else if(this.direction < 0){this.reverse_animation();}\n",
              "  }\n",
              "\n",
              "  Animation.prototype.faster = function()\n",
              "  {\n",
              "    this.interval *= 0.7;\n",
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              "      }else if(loop_state == \"reflect\"){\n",
              "        this.last_frame();\n",
              "        this.reverse_animation();\n",
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              "        this.pause_animation();\n",
              "        this.last_frame();\n",
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              "\n",
              "  Animation.prototype.anim_step_reverse = function()\n",
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              "      }else if(loop_state == \"reflect\"){\n",
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              "      this.timer = null;\n",
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              "\n",
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              "    if (!this.timer) this.timer = setInterval(function() {\n",
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              "\n",
              "  Animation.prototype.reverse_animation = function()\n",
              "  {\n",
              "    this.pause_animation();\n",
              "    this.direction = -1;\n",
              "    var t = this;\n",
              "    if (!this.timer) this.timer = setInterval(function() {\n",
              "        t.anim_step_reverse();\n",
              "    }, this.interval);\n",
              "  }\n",
              "</script>\n",
              "\n",
              "<style>\n",
              ".animation {\n",
              "    display: inline-block;\n",
              "    text-align: center;\n",
              "}\n",
              "input[type=range].anim-slider {\n",
              "    width: 374px;\n",
              "    margin-left: auto;\n",
              "    margin-right: auto;\n",
              "}\n",
              ".anim-buttons {\n",
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              "    padding: 0;\n",
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              ".anim-state label {\n",
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              ".anim-state input {\n",
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              "</style>\n",
              "\n",
              "<div class=\"animation\">\n",
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              "  <div class=\"anim-controls\">\n",
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              "      <button onclick=\"anim4171fe2eb8074a04ab6915b705c94ec0.first_frame()\"><i class=\"fa fa-fast-backward\">\n",
              "          </i></button>\n",
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              "          <i class=\"fa fa-step-backward\"></i></button>\n",
              "      <button onclick=\"anim4171fe2eb8074a04ab6915b705c94ec0.reverse_animation()\">\n",
              "          <i class=\"fa fa-play fa-flip-horizontal\"></i></button>\n",
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              "          </i></button>\n",
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              "          </button>\n",
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              "          </i></button>\n",
              "      <button onclick=\"anim4171fe2eb8074a04ab6915b705c94ec0.last_frame()\"><i class=\"fa fa-fast-forward\">\n",
              "          </i></button>\n",
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              "    </div>\n",
              "    <form action=\"#n\" name=\"_anim_loop_select4171fe2eb8074a04ab6915b705c94ec0\" class=\"anim-state\">\n",
              "      <input type=\"radio\" name=\"state\" value=\"once\" id=\"_anim_radio1_4171fe2eb8074a04ab6915b705c94ec0\"\n",
              "             checked>\n",
              "      <label for=\"_anim_radio1_4171fe2eb8074a04ab6915b705c94ec0\">Once</label>\n",
              "      <input type=\"radio\" name=\"state\" value=\"loop\" id=\"_anim_radio2_4171fe2eb8074a04ab6915b705c94ec0\"\n",
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              "      <input type=\"radio\" name=\"state\" value=\"reflect\" id=\"_anim_radio3_4171fe2eb8074a04ab6915b705c94ec0\"\n",
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              "    </form>\n",
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              "YII=\\\n",
              "\"\n",
              "\n",
              "\n",
              "    /* set a timeout to make sure all the above elements are created before\n",
              "       the object is initialized. */\n",
              "    setTimeout(function() {\n",
              "        anim4171fe2eb8074a04ab6915b705c94ec0 = new Animation(frames, img_id, slider_id, 50.0,\n",
              "                                 loop_select_id);\n",
              "    }, 0);\n",
              "  })()\n",
              "</script>\n"
            ]
          },
          "metadata": {}
        }
      ],
      "source": [
        "env = gym.make(\"BipedalWalker-v3\")\n",
        "env = GymVideo(env)\n",
        "\n",
        "env.reset()\n",
        "\n",
        "done = False\n",
        "while done != True:\n",
        "    obs, reward, done, info = env.step(env.action_space.sample(), monitor_frames=True)\n",
        "\n",
        "env.save_video(save_name=\"random_action.gif\", display_inline=True)"
      ]
    },
    {
      "cell_type": "markdown",
      "metadata": {
        "id": "t1tpQK5hBtin"
      },
      "source": [
        "## 1万ステップの学習"
      ]
    },
    {
      "cell_type": "code",
      "execution_count": null,
      "metadata": {
        "id": "sqXzxwR_iCxe"
      },
      "outputs": [],
      "source": [
        "total_timesteps = 10000  # 1万ステップ\n",
        "\n",
        "model = PPO(\"MlpPolicy\", env, verbose=1)\n",
        "model.learn(total_timesteps=total_timesteps)"
      ]
    },
    {
      "cell_type": "code",
      "execution_count": 16,
      "metadata": {
        "colab": {
          "base_uri": "https://localhost:8080/",
          "height": 386
        },
        "id": "B1DMIBlTmGRy",
        "outputId": "0541cfd2-752b-486a-9b2d-4645bd11f2ec"
      },
      "outputs": [
        {
          "output_type": "display_data",
          "data": {
            "text/plain": [
              "<IPython.core.display.HTML object>"
            ],
            "text/html": [
              "\n",
              "<link rel=\"stylesheet\"\n",
              "href=\"https://maxcdn.bootstrapcdn.com/font-awesome/4.4.0/\n",
              "css/font-awesome.min.css\">\n",
              "<script language=\"javascript\">\n",
              "  function isInternetExplorer() {\n",
              "    ua = navigator.userAgent;\n",
              "    /* MSIE used to detect old browsers and Trident used to newer ones*/\n",
              "    return ua.indexOf(\"MSIE \") > -1 || ua.indexOf(\"Trident/\") > -1;\n",
              "  }\n",
              "\n",
              "  /* Define the Animation class */\n",
              "  function Animation(frames, img_id, slider_id, interval, loop_select_id){\n",
              "    this.img_id = img_id;\n",
              "    this.slider_id = slider_id;\n",
              "    this.loop_select_id = loop_select_id;\n",
              "    this.interval = interval;\n",
              "    this.current_frame = 0;\n",
              "    this.direction = 0;\n",
              "    this.timer = null;\n",
              "    this.frames = new Array(frames.length);\n",
              "\n",
              "    for (var i=0; i<frames.length; i++)\n",
              "    {\n",
              "     this.frames[i] = new Image();\n",
              "     this.frames[i].src = frames[i];\n",
              "    }\n",
              "    var slider = document.getElementById(this.slider_id);\n",
              "    slider.max = this.frames.length - 1;\n",
              "    if (isInternetExplorer()) {\n",
              "        // switch from oninput to onchange because IE <= 11 does not conform\n",
              "        // with W3C specification. It ignores oninput and onchange behaves\n",
              "        // like oninput. In contrast, Mircosoft Edge behaves correctly.\n",
              "        slider.setAttribute('onchange', slider.getAttribute('oninput'));\n",
              "        slider.setAttribute('oninput', null);\n",
              "    }\n",
              "    this.set_frame(this.current_frame);\n",
              "  }\n",
              "\n",
              "  Animation.prototype.get_loop_state = function(){\n",
              "    var button_group = document[this.loop_select_id].state;\n",
              "    for (var i = 0; i < button_group.length; i++) {\n",
              "        var button = button_group[i];\n",
              "        if (button.checked) {\n",
              "            return button.value;\n",
              "        }\n",
              "    }\n",
              "    return undefined;\n",
              "  }\n",
              "\n",
              "  Animation.prototype.set_frame = function(frame){\n",
              "    this.current_frame = frame;\n",
              "    document.getElementById(this.img_id).src =\n",
              "            this.frames[this.current_frame].src;\n",
              "    document.getElementById(this.slider_id).value = this.current_frame;\n",
              "  }\n",
              "\n",
              "  Animation.prototype.next_frame = function()\n",
              "  {\n",
              "    this.set_frame(Math.min(this.frames.length - 1, this.current_frame + 1));\n",
              "  }\n",
              "\n",
              "  Animation.prototype.previous_frame = function()\n",
              "  {\n",
              "    this.set_frame(Math.max(0, this.current_frame - 1));\n",
              "  }\n",
              "\n",
              "  Animation.prototype.first_frame = function()\n",
              "  {\n",
              "    this.set_frame(0);\n",
              "  }\n",
              "\n",
              "  Animation.prototype.last_frame = function()\n",
              "  {\n",
              "    this.set_frame(this.frames.length - 1);\n",
              "  }\n",
              "\n",
              "  Animation.prototype.slower = function()\n",
              "  {\n",
              "    this.interval /= 0.7;\n",
              "    if(this.direction > 0){this.play_animation();}\n",
              "    else if(this.direction < 0){this.reverse_animation();}\n",
              "  }\n",
              "\n",
              "  Animation.prototype.faster = function()\n",
              "  {\n",
              "    this.interval *= 0.7;\n",
              "    if(this.direction > 0){this.play_animation();}\n",
              "    else if(this.direction < 0){this.reverse_animation();}\n",
              "  }\n",
              "\n",
              "  Animation.prototype.anim_step_forward = function()\n",
              "  {\n",
              "    this.current_frame += 1;\n",
              "    if(this.current_frame < this.frames.length){\n",
              "      this.set_frame(this.current_frame);\n",
              "    }else{\n",
              "      var loop_state = this.get_loop_state();\n",
              "      if(loop_state == \"loop\"){\n",
              "        this.first_frame();\n",
              "      }else if(loop_state == \"reflect\"){\n",
              "        this.last_frame();\n",
              "        this.reverse_animation();\n",
              "      }else{\n",
              "        this.pause_animation();\n",
              "        this.last_frame();\n",
              "      }\n",
              "    }\n",
              "  }\n",
              "\n",
              "  Animation.prototype.anim_step_reverse = function()\n",
              "  {\n",
              "    this.current_frame -= 1;\n",
              "    if(this.current_frame >= 0){\n",
              "      this.set_frame(this.current_frame);\n",
              "    }else{\n",
              "      var loop_state = this.get_loop_state();\n",
              "      if(loop_state == \"loop\"){\n",
              "        this.last_frame();\n",
              "      }else if(loop_state == \"reflect\"){\n",
              "        this.first_frame();\n",
              "        this.play_animation();\n",
              "      }else{\n",
              "        this.pause_animation();\n",
              "        this.first_frame();\n",
              "      }\n",
              "    }\n",
              "  }\n",
              "\n",
              "  Animation.prototype.pause_animation = function()\n",
              "  {\n",
              "    this.direction = 0;\n",
              "    if (this.timer){\n",
              "      clearInterval(this.timer);\n",
              "      this.timer = null;\n",
              "    }\n",
              "  }\n",
              "\n",
              "  Animation.prototype.play_animation = function()\n",
              "  {\n",
              "    this.pause_animation();\n",
              "    this.direction = 1;\n",
              "    var t = this;\n",
              "    if (!this.timer) this.timer = setInterval(function() {\n",
              "        t.anim_step_forward();\n",
              "    }, this.interval);\n",
              "  }\n",
              "\n",
              "  Animation.prototype.reverse_animation = function()\n",
              "  {\n",
              "    this.pause_animation();\n",
              "    this.direction = -1;\n",
              "    var t = this;\n",
              "    if (!this.timer) this.timer = setInterval(function() {\n",
              "        t.anim_step_reverse();\n",
              "    }, this.interval);\n",
              "  }\n",
              "</script>\n",
              "\n",
              "<style>\n",
              ".animation {\n",
              "    display: inline-block;\n",
              "    text-align: center;\n",
              "}\n",
              "input[type=range].anim-slider {\n",
              "    width: 374px;\n",
              "    margin-left: auto;\n",
              "    margin-right: auto;\n",
              "}\n",
              ".anim-buttons {\n",
              "    margin: 8px 0px;\n",
              "}\n",
              ".anim-buttons button {\n",
              "    padding: 0;\n",
              "    width: 36px;\n",
              "}\n",
              ".anim-state label {\n",
              "    margin-right: 8px;\n",
              "}\n",
              ".anim-state input {\n",
              "    margin: 0;\n",
              "    vertical-align: middle;\n",
              "}\n",
              "</style>\n",
              "\n",
              "<div class=\"animation\">\n",
              "  <img id=\"_anim_img20690b42b9464287a47e62242b3c5526\">\n",
              "  <div class=\"anim-controls\">\n",
              "    <input id=\"_anim_slider20690b42b9464287a47e62242b3c5526\" type=\"range\" class=\"anim-slider\"\n",
              "           name=\"points\" min=\"0\" max=\"1\" step=\"1\" value=\"0\"\n",
              "           oninput=\"anim20690b42b9464287a47e62242b3c5526.set_frame(parseInt(this.value));\"></input>\n",
              "    <div class=\"anim-buttons\">\n",
              "      <button onclick=\"anim20690b42b9464287a47e62242b3c5526.slower()\"><i class=\"fa fa-minus\"></i></button>\n",
              "      <button onclick=\"anim20690b42b9464287a47e62242b3c5526.first_frame()\"><i class=\"fa fa-fast-backward\">\n",
              "          </i></button>\n",
              "      <button onclick=\"anim20690b42b9464287a47e62242b3c5526.previous_frame()\">\n",
              "          <i class=\"fa fa-step-backward\"></i></button>\n",
              "      <button onclick=\"anim20690b42b9464287a47e62242b3c5526.reverse_animation()\">\n",
              "          <i class=\"fa fa-play fa-flip-horizontal\"></i></button>\n",
              "      <button onclick=\"anim20690b42b9464287a47e62242b3c5526.pause_animation()\"><i class=\"fa fa-pause\">\n",
              "          </i></button>\n",
              "      <button onclick=\"anim20690b42b9464287a47e62242b3c5526.play_animation()\"><i class=\"fa fa-play\"></i>\n",
              "          </button>\n",
              "      <button onclick=\"anim20690b42b9464287a47e62242b3c5526.next_frame()\"><i class=\"fa fa-step-forward\">\n",
              "          </i></button>\n",
              "      <button onclick=\"anim20690b42b9464287a47e62242b3c5526.last_frame()\"><i class=\"fa fa-fast-forward\">\n",
              "          </i></button>\n",
              "      <button onclick=\"anim20690b42b9464287a47e62242b3c5526.faster()\"><i class=\"fa fa-plus\"></i></button>\n",
              "    </div>\n",
              "    <form action=\"#n\" name=\"_anim_loop_select20690b42b9464287a47e62242b3c5526\" class=\"anim-state\">\n",
              "      <input type=\"radio\" name=\"state\" value=\"once\" id=\"_anim_radio1_20690b42b9464287a47e62242b3c5526\"\n",
              "             checked>\n",
              "      <label for=\"_anim_radio1_20690b42b9464287a47e62242b3c5526\">Once</label>\n",
              "      <input type=\"radio\" name=\"state\" value=\"loop\" id=\"_anim_radio2_20690b42b9464287a47e62242b3c5526\"\n",
              "             >\n",
              "      <label for=\"_anim_radio2_20690b42b9464287a47e62242b3c5526\">Loop</label>\n",
              "      <input type=\"radio\" name=\"state\" value=\"reflect\" id=\"_anim_radio3_20690b42b9464287a47e62242b3c5526\"\n",
              "             >\n",
              "      <label for=\"_anim_radio3_20690b42b9464287a47e62242b3c5526\">Reflect</label>\n",
              "    </form>\n",
              "  </div>\n",
              "</div>\n",
              "\n",
              "\n",
              "<script language=\"javascript\">\n",
              "  /* Instantiate the Animation class. */\n",
              "  /* The IDs given should match those used in the template above. */\n",
              "  (function() {\n",
              "    var img_id = \"_anim_img20690b42b9464287a47e62242b3c5526\";\n",
              "    var slider_id = \"_anim_slider20690b42b9464287a47e62242b3c5526\";\n",
              "    var loop_select_id = \"_anim_loop_select20690b42b9464287a47e62242b3c5526\";\n",
              "    var frames = new Array(69);\n",
              "    \n",
              "  frames[0] = \"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAbAAAAEgCAYAAADVKCZpAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz\\\n",
              "AAALEgAACxIB0t1+/AAAADh0RVh0U29mdHdhcmUAbWF0cGxvdGxpYiB2ZXJzaW9uMy4yLjIsIGh0\\\n",
              "dHA6Ly9tYXRwbG90bGliLm9yZy+WH4yJAAAUjklEQVR4nO3dSYwc133H8V9V78OZ4XATF5G0JJAm\\\n",
              "qUiiJNiSE8d2FtiJgwQIBB0CGw6cKEiAALkYyTmnIMg9CXIS7KMRBHZiwGsAWbDleJMty1IsWjFE\\\n",
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