Initial commit

.dockerignore

@@ -0,0 +1,6 @@
+**/__pycache__*
+**/.idea
+**/build
+Pyrado/data
+Dockerfile
+setup_docker.sh

.github/workflows/dockerimage.yml

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+name: Docker Image CI
+
+on:
+  push:
+    branches: [ master, cicd ]
+  pull_request:
+    branches: [ master, cicd ]
+
+jobs:
+
+  build:
+
+    runs-on: ubuntu-latest
+
+    steps:
+      - uses: actions/checkout@v2
+      - name: Build the Docker image
+        run: docker build . --file Dockerfile --tag simurlacra
+      - name: Execute tests
+        env:
+          CC_TEST_REPORTER_ID: ${{secrets.CC_TEST_REPORTER_ID}}
+        run: |
+          wget https://codeclimate.com/downloads/test-reporter/test-reporter-latest-linux-amd64
+          export COVPATH=$(realpath .)
+          chmod +x test-reporter-latest-linux-amd64
+          ./test-reporter-latest-linux-amd64 before-build
+          docker run --rm -i -v $COVPATH:/cov simurlacra conda run -n pyrado bash -c "pytest Pyrado/tests --cov=./Pyrado --cov-report=xml --verbose -m 'not visualization and not longtime'; sudo cp ./coverage.xml /cov"
+          sudo mkdir /home/user/
+          sudo mkdir /home/user/SimuRLacra
+          sudo ln -s $COVPATH /home/user/SimuRLacra
+          ./test-reporter-latest-linux-amd64 format-coverage coverage.xml -t coverage.py -p /home/user/SimuRLacra
+          ./test-reporter-latest-linux-amd64 upload-coverage
+      - uses: codecov/codecov-action@v1
+        with:
+          file: coverage.xml # optional
+          flags: unittests # optional
+          name: codecov-umbrella # optional
+          fail_ci_if_error: true

.github/workflows/publish_docker_hub.yml

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+name: Publish Docker image
+on:
+  release:
+    types: [published]
+  push:
+    branches: [ master, cicd ]
+jobs:
+  push_to_registry:
+    name: Push Docker image to Docker Hub
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check out the repo
+        uses: actions/checkout@v2
+      - name: Push to Docker Hub
+        uses: docker/build-push-action@v1
+        with:
+          username: ${{ secrets.DOCKER_USERNAME }}
+          password: ${{ secrets.DOCKER_PASSWORD }}
+          repository: simurlacra/simurlacra
+          tag_with_ref: true

Dockerfile

@@ -0,0 +1,77 @@
+# Copyright (c) 2020, Fabio Muratore, Honda Research Institute Europe GmbH, and
+# Technical University of Darmstadt.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in the
+#    documentation and/or other materials provided with the distribution.
+# 3. Neither the name of the Fabio Muratore, Honda Research Institute Europe GmbH,
+#    or Technical University of Darmstadt. nor the names of its contributors may
+#    be used to endorse or promote products derived from this software without
+#    specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL FABIO MURATORE, HONDA RESEARCH INSTITUTE EUROPE GMBH,
+# OR TECHNICAL UNIVERSITY DAMRSTADT BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+# PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+# OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER
+# IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+FROM nvidia/cuda:10.1-base-ubuntu18.04
+
+ENV LC_ALL=C.UTF-8
+ENV LANG=C.UTF-8
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update && apt-get install -y \
+    curl ca-certificates sudo git bzip2 libx11-6 \
+    gcc g++ make cmake zlib1g-dev swig libsm6 libxext6 \
+    build-essential libssl-dev zlib1g-dev libbz2-dev libreadline-dev \
+    wget llvm libncurses5-dev xz-utils tk-dev libxrender1\
+    libxml2-dev libxmlsec1-dev libffi-dev libcairo2-dev libjpeg-dev libgif-dev chromium-browser
+
+RUN adduser --disabled-password --gecos '' --shell /bin/bash user && chown -R user:user /home/user
+RUN echo 'user ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers.d/90-pyrado
+USER user
+WORKDIR /home/user
+
+RUN wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh \
+ && bash Miniconda3-latest-Linux-x86_64.sh -b \
+ && rm Miniconda3-latest-Linux-x86_64.sh
+
+ENV PATH /home/user/miniconda3/bin:$PATH
+
+RUN conda update conda \
+ && conda update --all
+
+COPY --chown=user:user . SimuRLacra
+
+WORKDIR /home/user/SimuRLacra
+RUN bash setup_env.sh
+SHELL ["conda", "run", "-n", "pyrado", "/bin/bash", "-c"]
+
+RUN echo "export PATH=/home/user/miniconda3/bin:$PATH" >> ~/.bashrc
+RUN echo "conda activate pyrado" >> ~/.bashrc
+
+RUN python setup_deps.py dep_libraries -j4
+#RUN python setup_deps.py all --use-cuda -j4
+
+#RUN conda install pytorch torchvision
+RUN conda install pytorch cudatoolkit=10.1 -c pytorch
+
+RUN python setup_deps.py separate_pytorch -j4
+RUN python setup_deps.py pytorch_based -j4
+ENV PATH /opt/conda/envs/pyrado/bin:$PATH
+ENV PYTHONPATH /home/user/SimuRLacra/RcsPySim/build/lib:/home/user/SimuRLacra/Pyrado/:$PYTHONPATH
+ENV RCSVIEWER_SIMPLEGRAPHICS 1
+RUN sudo rm -rf /var/lib/apt/lists/*

Pyrado/data/perma/experiments/wam-bic/cem_dualrbf/2020-06-30_15-09-33/hyperparams.yaml

@@ -0,0 +1,23 @@
+env:
+  fixed_initial_state: false
+  max_steps: 1500
+seed: None
+policy:
+  dim_mask: 2
+  rbf_hparam:
+    bounds: !!python/tuple
+    - 0.0
+    - 1.0
+    num_feat_per_dim: 6
+    scale: None
+algo:
+  expl_std_init: 0.3
+  expl_std_min: 0.01
+  extra_expl_decay_iter: 3
+  extra_expl_std_init: 0.3
+  max_iter: 10
+  num_is_samples: 5
+  num_rollouts: 5
+  num_sampler_envs: 8
+  pop_size: 100
+algo_name: cem

Pyrado/data/perma/experiments/wam-bic/cem_dualrbf/2020-06-30_15-09-33/progress.csv

@@ -0,0 +1,11 @@
+iteration,curr policy return,max return,median return,avg return,std return,avg rollout len,min mag policy param,max mag policy param,median imp samp return,min imp samp return,min expl strat std,avg expl strat std,max expl strat std,expl strat entropy
+0,-8.710662412873106,760.0009674816167,-59.49109091927956,-54.75214796469511,161.70942654960675,1454.1742574257426,-0.06588651703635981,0.9594797017748344,254.09926481440442,197.45186031794333,0.4952320663210924,0.6740265907538588,0.9926125539900024,-1.2462299865117759
+1,142.9067609565233,541.4432401163832,-35.41420913162493,-54.41402173803204,198.31093852441822,1056.4019801980198,0.028735621976779157,0.659794569762903,365.2500586127184,215.082042587284,0.4800436618741938,0.6996407588327149,1.018251459540245,-0.9231380338674846
+2,26.08922252016557,488.0381192165846,-10.618967937350027,-64.6238376113633,221.2182947981403,1148.110891089109,-0.1353694016491672,0.8352587767568821,277.2010287800021,222.88229230239176,0.34129310443874794,0.5592734015956519,0.7267108513350384,-2.231934706655034
+3,142.78333728731837,615.8282986546582,-8.751857440182793,-15.873068953842044,169.89118164223183,1317.918811881188,0.07078493691725676,0.6299086176047138,342.9185866063518,236.08888376576806,0.3026654464641786,0.347306753251194,0.40874946127083484,-4.958370737214771
+4,526.2311810162637,1381.008954084298,33.62058877814255,119.71127293017896,280.8111973711075,1270.1683168316831,0.013518243963281284,1.0958515155246578,817.7914025855504,674.3256381149829,0.19462435684886153,0.31779845312787885,0.42765265367643823,-5.683563109152338
+5,1030.6007983936624,1503.52900454265,54.482756066416734,134.1965640344503,302.27627122916215,1262.0950495049506,-0.04331775457789238,1.2476513418814947,1087.5830003662575,677.0875910317316,0.11401600363224819,0.2055208597840044,0.2871375059982868,-8.482765299354769
+6,1036.5707037069046,1080.1495026744374,142.50981400470496,257.770124646996,300.0721407575729,1311.3722772277229,-0.05323266176464527,1.2440819700359107,1036.5707037069046,836.2666470146954,0.12306302638322535,0.19995654133601218,0.44312435939109734,-8.934397363815823
+7,1372.1527449006005,1468.4834040530375,319.41293220853925,351.49493635854265,367.647850404073,1339.70099009901,-0.02060456524553212,1.2147972792939679,1380.287130870913,1353.5553103693815,0.043445394961782485,0.1479220675713729,0.38705008846936084,-11.804067570846986
+8,1190.6823499484422,1554.9531478915023,442.09111042608276,498.9841182235761,362.36674100186576,1405.9623762376239,0.07134620765620289,1.2265204543711241,1373.3864119939967,1192.885666625422,0.04113023930981834,0.08674639252748194,0.14328866679493457,-13.760231277175372
+9,1208.1312553685761,1503.8858949526261,671.1936789766326,740.8832172879393,337.9060063313051,1460.7821782178219,0.015087683321546608,1.2758841315893692,1366.5288590416953,1355.1885024051735,0.018076026431905142,0.05416133713740234,0.09643366296125244,-17.166969482632815

Pyrado/doc/source/conf.py

@@ -0,0 +1,104 @@
+# Copyright (c) 2020, Fabio Muratore, Honda Research Institute Europe GmbH, and
+# Technical University of Darmstadt.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in the
+#    documentation and/or other materials provided with the distribution.
+# 3. Neither the name of Fabio Muratore, Honda Research Institute Europe GmbH,
+#    or Technical University of Darmstadt, nor the names of its contributors may
+#    be used to endorse or promote products derived from this software without
+#    specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+# DISCLAIMED. IN NO EVENT SHALL FABIO MURATORE, HONDA RESEARCH INSTITUTE EUROPE GMBH,
+# OR TECHNICAL UNIVERSITY OF DARMSTADT BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+# PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+# OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER
+# IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+# Configuration file for the Sphinx documentation builder.
+# This file only contains a selection of the most common options. For a full list see the documentation:
+# https://www.sphinx-doc.org/en/master/usage/configuration.html
+
+# ----------
+# Path setup
+# ----------
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+import os
+import sys
+
+from pyrado import VERSION
+
+
+# Add packages to the path
+sys.path.insert(0, os.path.abspath('..'))  # doc folder
+sys.path.insert(0, os.path.abspath('../..'))  # Pyrado folder
+
+# -------------------
+# Project information
+# -------------------
+project = 'Pyrado'
+version = '.'.join(VERSION.split('.'))  # short version
+release = VERSION  # full version including tags
+copyright = '2020'
+author = 'Fabio Muratore & Felix Treede & Robin Menzenbach & Chrisitan Eilers'
+
+# ---------------------
+# General configuration
+# ---------------------
+# Add any Sphinx extension module names here, as strings
+# They can be extensions coming with Sphinx (named 'sphinx.ext.*') or your custom ones
+extensions = [
+    'sphinx.ext.inheritance_diagram',
+    'sphinx.ext.autosectionlabel',
+    'sphinx_math_dollar',
+    'sphinx.ext.mathjax',
+    'sphinx.ext.autosummary',
+    'sphinx.ext.intersphinx',
+    'sphinx.ext.todo',
+    'sphinx.ext.viewcode',
+]
+
+# Add any paths that contain templates here, relative to this directory
+templates_path = ['_templates']
+
+# List of patterns, relative to source directory, that match files and dirs to ignore when looking for source files
+# This pattern also affects html_static_path and html_extra_path
+exclude_patterns = ['_build', 'Thumbs.db', '.DS_Store']
+
+# The name of the Pygments (syntax highlighting) style to use
+pygments_style = 'sphinx'
+
+source_suffix = {
+    '.rst': 'restructuredtext',
+    '.txt': 'restructuredtext',
+    '.md': 'markdown',
+}
+
+# The master toctree document
+master_doc = 'index'
+
+# -----------------------
+# Options for HTML output
+# -----------------------
+# The theme to use for HTML and HTML Help pages. See the documentation for a list of builtin themes
+html_theme = 'sphinx_rtd_theme'
+
+# Add any paths that contain custom static files (such as style sheets) here, relative to this directory.
+# They are copied after the builtin static files, so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = ['_static']
+
+add_module_names = False