ncpu needs to be an integer. (#558)

* separate_validation_set was not imported

* launching tensorboard automatically

.travis.yml

@@ -10,5 +10,5 @@ install:
     - docker build . -t baselines-test
 
 script:
-    - flake8 --select=F,E999 baselines/common baselines/trpo_mpi baselines/ppo2 baselines/a2c baselines/deepq baselines/acer
-    - docker run baselines-test pytest --runslow
+    - flake8 .
+    - docker run baselines-test pytest -v .

Dockerfile

@@ -18,6 +18,7 @@ WORKDIR $CODE_DIR/baselines
 # Clean up pycache and pyc files
 RUN rm -rf __pycache__ && \
     find . -name "*.pyc" -delete && \
+    pip install tensorflow && \
     pip install -e .[test]
 
 

README.md

@@ -45,8 +45,8 @@ cd baselines
 ```
 If using virtualenv, create a new virtualenv and activate it
 ```bash
-    virtualenv env --python=python3
-    . env/bin/activate
+virtualenv env --python=python3
+. env/bin/activate
 ```
 Install baselines package
 ```bash
@@ -62,29 +62,20 @@ pip install pytest
 pytest
 ```
 
-## Subpackages
-
-## Testing the installation
-All unit tests in baselines can be run using pytest runner:
-```
-pip install pytest
-pytest
-```
-
 ## Training models
 Most of the algorithms in baselines repo are used as follows:
 ```bash
-    python -m baselines.run --alg=<name of the algorithm> --env=<environment_id> [additional arguments]
+python -m baselines.run --alg=<name of the algorithm> --env=<environment_id> [additional arguments]
 ```
 ### Example 1. PPO with MuJoCo Humanoid
-For instance, to train a fully-connected network controlling MuJoCo humanoid using a2c for 20M timesteps
+For instance, to train a fully-connected network controlling MuJoCo humanoid using PPO2 for 20M timesteps
 ```bash
-    python -m baselines.run --alg=a2c --env=Humanoid-v2 --network=mlp --num_timesteps=2e7
+python -m baselines.run --alg=ppo2 --env=Humanoid-v2 --network=mlp --num_timesteps=2e7
 ```
 Note that for mujoco environments fully-connected network is default, so we can omit `--network=mlp`
 The hyperparameters for both network and the learning algorithm can be controlled via the command line, for instance:
 ```bash
-    python -m baselines.run --alg=a2c --env=Humanoid-v2 --network=mlp --num_timesteps=2e7 --ent_coef=0.1 --num_hidden=32 --num_layers=3 --value_network=copy
+python -m baselines.run --alg=ppo2 --env=Humanoid-v2 --network=mlp --num_timesteps=2e7 --ent_coef=0.1 --num_hidden=32 --num_layers=3 --value_network=copy
 ```
 will set entropy coeffient to 0.1, and construct fully connected network with 3 layers with 32 hidden units in each, and create a separate network for value function estimation (so that its parameters are not shared with the policy network, but the structure is the same)
 
@@ -94,7 +85,7 @@ docstring for [baselines/ppo2/ppo2.py/learn()](ppo2/ppo2.py) fir the description
 ### Example 2. DQN on Atari 
 DQN with Atari is at this point a classics of benchmarks. To run the baselines implementation of DQN on Atari Pong:
 ```
-    python -m baselines.run --alg=deepq --env=PongNoFrameskip-v4 --num_timesteps=1e6
+python -m baselines.run --alg=deepq --env=PongNoFrameskip-v4 --num_timesteps=1e6
 ```
 
 ## Saving, loading and visualizing models
@@ -102,11 +93,11 @@ The algorithms serialization API is not properly unified yet; however, there is
 `--save_path` and `--load_path` command-line option loads the tensorflow state from a given path before training, and saves it after the training, respectively. 
 Let's imagine you'd like to train ppo2 on Atari Pong,  save the model and then later visualize what has it learnt.
 ```bash
-    python -m baselines.run --alg=ppo2 --env=PongNoFrameskip-v4 --num-timesteps=2e7 --save_path=~/models/pong_20M_ppo2
+python -m baselines.run --alg=ppo2 --env=PongNoFrameskip-v4 --num_timesteps=2e7 --save_path=~/models/pong_20M_ppo2
 ```
 This should get to the mean reward per episode about 5k. To load and visualize the model, we'll do the following - load the model, train it for 0 steps, and then visualize: 
 ```bash
-    python -m baselines.run --alg=ppo2 --env=PongNoFrameskip-v4 --num-timesteps=0 --load_path=~/models/pong_20M_ppo2 --play
+python -m baselines.run --alg=ppo2 --env=PongNoFrameskip-v4 --num_timesteps=0 --load_path=~/models/pong_20M_ppo2 --play
 ```
 
 *NOTE:* At the moment Mujoco training uses VecNormalize wrapper for the environment which is not being saved correctly; so loading the models trained on Mujoco will not work well if the environment is recreated. If necessary, you can work around that by replacing RunningMeanStd by TfRunningMeanStd in [baselines/common/vec_env/vec_normalize.py](baselines/common/vec_env/vec_normalize.py#L12). This way, mean and std of environment normalizing wrapper will be saved in tensorflow variables and included in the model file; however, training is slower that way - hence not including it by default

baselines/acktr/acktr_cont.py

@@ -54,7 +54,7 @@ def learn(env, policy, vf, gamma, lam, timesteps_per_batch, num_timesteps,
     stepsize = tf.Variable(initial_value=np.float32(np.array(0.03)), name='stepsize')
     inputs, loss, loss_sampled = policy.update_info
     optim = kfac.KfacOptimizer(learning_rate=stepsize, cold_lr=stepsize*(1-0.9), momentum=0.9, kfac_update=2,\
-                                epsilon=1e-2, stats_decay=0.99, async=1, cold_iter=1,
+                                epsilon=1e-2, stats_decay=0.99, async_=1, cold_iter=1,
                                 weight_decay_dict=policy.wd_dict, max_grad_norm=None)
     pi_var_list = []
     for var in tf.trainable_variables():

baselines/acktr/acktr_disc.py

@@ -58,7 +58,7 @@ class Model(object):
         with tf.device('/gpu:0'):
             self.optim = optim = kfac.KfacOptimizer(learning_rate=PG_LR, clip_kl=kfac_clip,\
                 momentum=0.9, kfac_update=1, epsilon=0.01,\
-                stats_decay=0.99, async=1, cold_iter=10, max_grad_norm=max_grad_norm)
+                stats_decay=0.99, async_=1, cold_iter=10, max_grad_norm=max_grad_norm)
 
             update_stats_op = optim.compute_and_apply_stats(joint_fisher_loss, var_list=params)
             train_op, q_runner = optim.apply_gradients(list(zip(grads,params)))
@@ -97,7 +97,7 @@ def learn(network, env, seed, total_timesteps=int(40e6), gamma=0.99, log_interva
                  kfac_clip=0.001, save_interval=None, lrschedule='linear', load_path=None, **network_kwargs):
     set_global_seeds(seed)
 
-    
+
     if network == 'cnn':
         network_kwargs['one_dim_bias'] = True
 
@@ -115,7 +115,7 @@ def learn(network, env, seed, total_timesteps=int(40e6), gamma=0.99, log_interva
         with open(osp.join(logger.get_dir(), 'make_model.pkl'), 'wb') as fh:
             fh.write(cloudpickle.dumps(make_model))
     model = make_model()
-            
+
     if load_path is not None:
         model.load(load_path)
 

baselines/acktr/kfac.py

@@ -10,14 +10,14 @@ KFAC_DEBUG = False
 
 class KfacOptimizer():
 
-    def __init__(self, learning_rate=0.01, momentum=0.9, clip_kl=0.01, kfac_update=2, stats_accum_iter=60, full_stats_init=False, cold_iter=100, cold_lr=None, async=False, async_stats=False, epsilon=1e-2, stats_decay=0.95, blockdiag_bias=False, channel_fac=False, factored_damping=False, approxT2=False, use_float64=False, weight_decay_dict={},max_grad_norm=0.5):
+    def __init__(self, learning_rate=0.01, momentum=0.9, clip_kl=0.01, kfac_update=2, stats_accum_iter=60, full_stats_init=False, cold_iter=100, cold_lr=None, async_=False, async_stats=False, epsilon=1e-2, stats_decay=0.95, blockdiag_bias=False, channel_fac=False, factored_damping=False, approxT2=False, use_float64=False, weight_decay_dict={},max_grad_norm=0.5):
         self.max_grad_norm = max_grad_norm
         self._lr = learning_rate
         self._momentum = momentum
         self._clip_kl = clip_kl
         self._channel_fac = channel_fac
         self._kfac_update = kfac_update
-        self._async = async
+        self._async = async_
         self._async_stats = async_stats
         self._epsilon = epsilon
         self._stats_decay = stats_decay

baselines/acktr/run_atari.py

@@ -1,23 +0,0 @@
-#!/usr/bin/env python3
-
-from functools import partial
-
-from baselines import logger
-from baselines.acktr.acktr_disc import learn
-from baselines.common.cmd_util import make_atari_env, atari_arg_parser
-from baselines.common.vec_env.vec_frame_stack import VecFrameStack
-from baselines.common.policies import cnn
-
-def train(env_id, num_timesteps, seed, num_cpu):
-    env = VecFrameStack(make_atari_env(env_id, num_cpu, seed), 4)
-    policy_fn = cnn(env=env, one_dim_bias=True)
-    learn(policy_fn, env, seed, total_timesteps=int(num_timesteps * 1.1), nprocs=num_cpu)
-    env.close()
-
-def main():
-    args = atari_arg_parser().parse_args()
-    logger.configure()
-    train(args.env, num_timesteps=args.num_timesteps, seed=args.seed, num_cpu=32)
-
-if __name__ == '__main__':
-    main()

baselines/acktr/value_functions.py

@@ -21,7 +21,7 @@ class NeuralNetValueFunction(object):
         self._predict = U.function([X], vpred_n)
         optim = kfac.KfacOptimizer(learning_rate=0.001, cold_lr=0.001*(1-0.9), momentum=0.9, \
                                     clip_kl=0.3, epsilon=0.1, stats_decay=0.95, \
-                                    async=1, kfac_update=2, cold_iter=50, \
+                                    async_=1, kfac_update=2, cold_iter=50, \
                                     weight_decay_dict=wd_dict, max_grad_norm=None)
         vf_var_list = []
         for var in tf.trainable_variables():

baselines/common/cmd_util.py

@@ -15,22 +15,31 @@ from baselines.bench import Monitor
 from baselines.common import set_global_seeds
 from baselines.common.atari_wrappers import make_atari, wrap_deepmind
 from baselines.common.vec_env.subproc_vec_env import SubprocVecEnv
+from baselines.common.vec_env.dummy_vec_env import DummyVecEnv
+from baselines.common.retro_wrappers import RewardScaler
 
-def make_atari_env(env_id, num_env, seed, wrapper_kwargs=None, start_index=0):
+
+def make_vec_env(env_id, env_type, num_env, seed, wrapper_kwargs=None, start_index=0, reward_scale=1.0):
     """
-    Create a wrapped, monitored SubprocVecEnv for Atari.
+    Create a wrapped, monitored SubprocVecEnv for Atari and MuJoCo.
     """
     if wrapper_kwargs is None: wrapper_kwargs = {}
     mpi_rank = MPI.COMM_WORLD.Get_rank() if MPI else 0
     def make_env(rank): # pylint: disable=C0111
         def _thunk():
-            env = make_atari(env_id)
+            env = make_atari(env_id) if env_type == 'atari' else gym.make(env_id)
             env.seed(seed + 10000*mpi_rank + rank if seed is not None else None)
-            env = Monitor(env, logger.get_dir() and os.path.join(logger.get_dir(), str(mpi_rank) + '.' + str(rank)))
-            return wrap_deepmind(env, **wrapper_kwargs)
+            env = Monitor(env, 
+                          logger.get_dir() and os.path.join(logger.get_dir(), str(mpi_rank) + '.' + str(rank)),
+                          allow_early_resets=True)
+
+            if env_type == 'atari': return wrap_deepmind(env, **wrapper_kwargs)
+            elif reward_scale != 1: return RewardScaler(env, reward_scale)
+            else: return env
         return _thunk
     set_global_seeds(seed)
-    return SubprocVecEnv([make_env(i + start_index) for i in range(num_env)])
+    if num_env > 1: return SubprocVecEnv([make_env(i + start_index) for i in range(num_env)])
+    else: return DummyVecEnv([make_env(start_index)])
 
 def make_mujoco_env(env_id, seed, reward_scale=1.0):
     """
@@ -40,13 +49,12 @@ def make_mujoco_env(env_id, seed, reward_scale=1.0):
     myseed = seed  + 1000 * rank if seed is not None else None
     set_global_seeds(myseed)
     env = gym.make(env_id)
-    env = Monitor(env, os.path.join(logger.get_dir(), str(rank)), allow_early_resets=True)
+    logger_path = None if logger.get_dir() is None else os.path.join(logger.get_dir(), str(rank))
+    env = Monitor(env, logger_path, allow_early_resets=True)
     env.seed(seed)
-
     if reward_scale != 1.0:
         from baselines.common.retro_wrappers import RewardScaler
         env = RewardScaler(env, reward_scale)
-
     return env
 
 def make_robotics_env(env_id, seed, rank=0):
@@ -88,7 +96,7 @@ def common_arg_parser():
     parser.add_argument('--env', help='environment ID', type=str, default='Reacher-v2')
     parser.add_argument('--seed', help='RNG seed', type=int, default=None)
     parser.add_argument('--alg', help='Algorithm', type=str, default='ppo2')
-    parser.add_argument('--num_timesteps', type=float, default=1e6), 
+    parser.add_argument('--num_timesteps', type=float, default=1e6),
     parser.add_argument('--network', help='network type (mlp, cnn, lstm, cnn_lstm, conv_only)', default=None)
     parser.add_argument('--gamestate', help='game state to load (so far only used in retro games)', default=None)
     parser.add_argument('--num_env', help='Number of environment copies being run in parallel. When not specified, set to number of cpus for Atari, and to 1 for Mujoco', default=None, type=int)
@@ -121,6 +129,3 @@ def parse_unknown_args(args):
         retval[key] = value
 
     return retval
-
-
-

baselines/common/console_util.py

@@ -2,6 +2,8 @@ from __future__ import print_function
 from contextlib import contextmanager
 import numpy as np
 import time
+import shlex 
+import subprocess
 
 # ================================================================
 # Misc
@@ -37,7 +39,7 @@ color2num = dict(
     crimson=38
 )
 
-def colorize(string, color, bold=False, highlight=False):
+def colorize(string, color='green', bold=False, highlight=False):
     attr = []
     num = color2num[color]
     if highlight: num += 10
@@ -45,6 +47,22 @@ def colorize(string, color, bold=False, highlight=False):
     if bold: attr.append('1')
     return '\x1b[%sm%s\x1b[0m' % (';'.join(attr), string)
 
+def print_cmd(cmd, dry=False):
+    if isinstance(cmd, str):  # for shell=True
+        pass
+    else:
+        cmd = ' '.join(shlex.quote(arg) for arg in cmd)
+    print(colorize(('CMD: ' if not dry else 'DRY: ') + cmd))
+
+
+def get_git_commit(cwd=None):
+    return subprocess.check_output(['git', 'rev-parse', '--short', 'HEAD'], cwd=cwd).decode('utf8')
+
+def ccap(cmd, dry=False, env=None, **kwargs):
+    print_cmd(cmd, dry)
+    if not dry:
+        subprocess.check_call(cmd, env=env, **kwargs)
+
 
 MESSAGE_DEPTH = 0
 

baselines/common/models.py

@@ -22,8 +22,7 @@ def nature_cnn(unscaled_images, **conv_kwargs):
 
 def mlp(num_layers=2, num_hidden=64, activation=tf.tanh):
     """
-    Simple fully connected layer policy. Separate stacks of fully-connected layers are used for policy and value function estimation.
-    More customized fully-connected policies can be obtained by using PolicyWithV class directly.
+    Stack of fully-connected layers to be used in a policy / q-function approximator
 
     Parameters:
     ----------
@@ -37,7 +36,7 @@ def mlp(num_layers=2, num_hidden=64, activation=tf.tanh):
     Returns:
     -------
 
-    function that builds fully connected network with a given input placeholder
+    function that builds fully connected network with a given input tensor / placeholder
     """        
     def network_fn(X):
         h = tf.layers.flatten(X)
@@ -68,6 +67,34 @@ def cnn_small(**conv_kwargs):
 
 
 def lstm(nlstm=128, layer_norm=False):
+    """
+    Builds LSTM (Long-Short Term Memory) network to be used in a policy.
+    Note that the resulting function returns not only the output of the LSTM 
+    (i.e. hidden state of lstm for each step in the sequence), but also a dictionary
+    with auxiliary tensors to be set as policy attributes. 
+
+    Specifically, 
+        S is a placeholder to feed current state (LSTM state has to be managed outside policy)
+        M is a placeholder for the mask (used to mask out observations after the end of the episode, but can be used for other purposes too)
+        initial_state is a numpy array containing initial lstm state (usually zeros)
+        state is the output LSTM state (to be fed into S at the next call)
+
+
+    An example of usage of lstm-based policy can be found here: common/tests/test_doc_examples.py/test_lstm_example
+            
+    Parameters:
+    ----------
+
+    nlstm: int          LSTM hidden state size
+
+    layer_norm: bool    if True, layer-normalized version of LSTM is used
+
+    Returns:
+    -------
+
+    function that builds LSTM with a given input tensor / placeholder
+    """
+        
     def network_fn(X, nenv=1):
         nbatch = X.shape[0] 
         nsteps = nbatch // nenv

baselines/common/policies.py

@@ -72,7 +72,7 @@ class PolicyWithValue(object):
 
     def step(self, observation, **extra_feed):
         """
-        Compute next action(s) given the observaion(s)
+        Compute next action(s) given the observation(s)
 
         Parameters:
         ----------
@@ -93,7 +93,7 @@ class PolicyWithValue(object):
 
     def value(self, ob, *args, **kwargs):
         """
-        Compute value estimate(s) given the observaion(s)
+        Compute value estimate(s) given the observation(s)
 
         Parameters:
         ----------

baselines/common/tests/test_cartpole.py

@@ -14,7 +14,7 @@ common_kwargs = dict(
 learn_kwargs = {
     'a2c' : dict(nsteps=32, value_network='copy', lr=0.05),
     'acktr': dict(nsteps=32, value_network='copy'),
-    'deepq': {},
+    'deepq': dict(total_timesteps=20000),
     'ppo2': dict(value_network='copy'),
     'trpo_mpi': {}
 }
@@ -38,3 +38,6 @@ def test_cartpole(alg):
         return env
 
     reward_per_episode_test(env_fn, learn_fn, 100)
+
+if __name__ == '__main__':
+    test_cartpole('deepq')

baselines/common/tests/test_doc_examples.py

@@ -0,0 +1,48 @@
+import pytest
+try:
+    import mujoco_py
+    _mujoco_present = True
+except BaseException:
+    mujoco_py = None
+    _mujoco_present = False
+
+
+@pytest.mark.skipif(
+    not _mujoco_present, 
+    reason='error loading mujoco - either mujoco / mujoco key not present, or LD_LIBRARY_PATH is not pointing to mujoco library'
+)
+def test_lstm_example():
+    import tensorflow as tf
+    from baselines.common import policies, models, cmd_util
+    from baselines.common.vec_env.dummy_vec_env import DummyVecEnv
+
+    # create vectorized environment
+    venv = DummyVecEnv([lambda: cmd_util.make_mujoco_env('Reacher-v2', seed=0)])
+
+    with tf.Session() as sess:
+        # build policy based on lstm network with 128 units
+        policy = policies.build_policy(venv, models.lstm(128))(nbatch=1, nsteps=1)
+
+        # initialize tensorflow variables
+        sess.run(tf.global_variables_initializer())
+
+        # prepare environment variables
+        ob = venv.reset()
+        state = policy.initial_state
+        done = [False]
+        step_counter = 0
+
+        # run a single episode until the end (i.e. until done)
+        while True:
+            action, _, state, _ = policy.step(ob, S=state, M=done)
+            ob, reward, done, _ = venv.step(action)
+            step_counter += 1
+            if done:    
+                break
+
+        
+        assert step_counter > 5
+            
+
+
+

baselines/common/tf_util.py

@@ -62,7 +62,7 @@ def make_session(config=None, num_cpu=None, make_default=False, graph=None):
         num_cpu = int(os.getenv('RCALL_NUM_CPU', multiprocessing.cpu_count()))
     if config is None:
         config = tf.ConfigProto(
-            allow_soft_placement=True, 
+            allow_soft_placement=True,
             inter_op_parallelism_threads=num_cpu,
             intra_op_parallelism_threads=num_cpu)
         config.gpu_options.allow_growth = True
@@ -328,7 +328,7 @@ def save_state(fname, sess=None):
 def save_variables(save_path, variables=None, sess=None):
     sess = sess or get_session()
     variables = variables or tf.trainable_variables()
-    
+
     ps = sess.run(variables)
     save_dict = {v.name: value for v, value in zip(variables, ps)}
     os.makedirs(os.path.dirname(save_path), exist_ok=True)
@@ -354,10 +354,10 @@ def adjust_shape(placeholder, data):
     If shape is incompatible, AssertionError is thrown
 
     Parameters:
-        placeholder     tensorflow input placeholder 
-        
+        placeholder     tensorflow input placeholder
+
         data            input data to be (potentially) reshaped to be fed into placeholder
-    
+
     Returns:
         reshaped data
     '''
@@ -366,14 +366,14 @@ def adjust_shape(placeholder, data):
         return data
     if isinstance(data, list):
         data = np.array(data)
-    
+
     placeholder_shape = [x or -1 for x in placeholder.shape.as_list()]
-    
+
     assert _check_shape(placeholder_shape, data.shape), \
         'Shape of data {} is not compatible with shape of the placeholder {}'.format(data.shape, placeholder_shape)
 
-    return np.reshape(data, placeholder_shape)  
-    
+    return np.reshape(data, placeholder_shape)
+
 
 def _check_shape(placeholder_shape, data_shape):
     ''' check if two shapes are compatible (i.e. differ only by dimensions of size 1, or by the batch dimension)'''
@@ -381,7 +381,7 @@ def _check_shape(placeholder_shape, data_shape):
     return True
     squeezed_placeholder_shape = _squeeze_shape(placeholder_shape)
     squeezed_data_shape = _squeeze_shape(data_shape)
-    
+
     for i, s_data in enumerate(squeezed_data_shape):
         s_placeholder = squeezed_placeholder_shape[i]
         if s_placeholder != -1 and s_data != s_placeholder:
@@ -392,14 +392,26 @@ def _check_shape(placeholder_shape, data_shape):
 
 def _squeeze_shape(shape):
     return [x for x in shape if x != 1]
-        
+
+# ================================================================
 # Tensorboard interfacing
 # ================================================================
 
 def launch_tensorboard_in_background(log_dir):
-    from tensorboard import main as tb
-    import threading
-    tf.flags.FLAGS.logdir = log_dir
-    t = threading.Thread(target=tb.main, args=([]))
-    t.start()
-
+    '''
+    To log the Tensorflow graph when using rl-algs
+    algorithms, you can run the following code
+    in your main script:
+        import threading, time
+        def start_tensorboard(session):
+            time.sleep(10) # Wait until graph is setup
+            tb_path = osp.join(logger.get_dir(), 'tb')
+            summary_writer = tf.summary.FileWriter(tb_path, graph=session.graph)
+            summary_op = tf.summary.merge_all()
+            launch_tensorboard_in_background(tb_path)
+        session = tf.get_default_session()
+        t = threading.Thread(target=start_tensorboard, args=([session]))
+        t.start()
+    '''
+    import subprocess
+    subprocess.Popen(['tensorboard', '--logdir', log_dir])

baselines/common/vec_env/__init__.py

@@ -1,38 +1,45 @@
 from abc import ABC, abstractmethod
-from baselines import logger
+from baselines.common.tile_images import tile_images
 
 class AlreadySteppingError(Exception):
     """
     Raised when an asynchronous step is running while
     step_async() is called again.
     """
+
     def __init__(self):
         msg = 'already running an async step'
         Exception.__init__(self, msg)
 
+
 class NotSteppingError(Exception):
     """
     Raised when an asynchronous step is not running but
     step_wait() is called.
     """
+
     def __init__(self):
         msg = 'not running an async step'
         Exception.__init__(self, msg)
 
+
 class VecEnv(ABC):
     """
     An abstract asynchronous, vectorized environment.
     """
+
     def __init__(self, num_envs, observation_space, action_space):
         self.num_envs = num_envs
         self.observation_space = observation_space
         self.action_space = action_space
+        self.closed = False
+        self.viewer = None # For rendering
 
     @abstractmethod
     def reset(self):
         """
         Reset all the environments and return an array of
-        observations, or a tuple of observation arrays.
+        observations, or a dict of observation arrays.
 
         If step_async is still doing work, that work will
         be cancelled and step_wait() should not be called
@@ -58,7 +65,7 @@ class VecEnv(ABC):
         Wait for the step taken with step_async().
 
         Returns (obs, rews, dones, infos):
-         - obs: an array of observations, or a tuple of
+         - obs: an array of observations, or a dict of
                 arrays of observations.
          - rews: an array of rewards
          - dones: an array of "episode done" booleans
@@ -66,19 +73,45 @@ class VecEnv(ABC):
         """
         pass
 
-    @abstractmethod
-    def close(self):
+    def close_extras(self):
         """
-        Clean up the environments' resources.
+        Clean up the  extra resources, beyond what's in this base class.
+        Only runs when not self.closed.
         """
         pass
 
+    def close(self):
+        if self.closed:
+            return
+        if self.viewer is not None:
+            self.viewer.close()
+        self.close_extras()
+        self.closed = True
+
     def step(self, actions):
+        """
+        Step the environments synchronously.
+
+        This is available for backwards compatibility.
+        """
         self.step_async(actions)
         return self.step_wait()
 
     def render(self, mode='human'):
-        logger.warn('Render not defined for %s'%self)
+        imgs = self.get_images()
+        bigimg = tile_images(imgs)
+        if mode == 'human':
+            self.get_viewer().imshow(bigimg)
+        elif mode == 'rgb_array':
+            return bigimg
+        else:
+            raise NotImplementedError
+
+    def get_images(self):
+        """
+        Return RGB images from each environment
+        """
+        raise NotImplementedError
 
     @property
     def unwrapped(self):
@@ -87,13 +120,25 @@ class VecEnv(ABC):
         else:
             return self
 
+    def get_viewer(self):
+        if self.viewer is None:
+            from gym.envs.classic_control import rendering
+            self.viewer = rendering.SimpleImageViewer()
+        return self.viewer
+
+
 class VecEnvWrapper(VecEnv):
+    """
+    An environment wrapper that applies to an entire batch
+    of environments at once.
+    """
+
     def __init__(self, venv, observation_space=None, action_space=None):
         self.venv = venv
-        VecEnv.__init__(self, 
-            num_envs=venv.num_envs,
-            observation_space=observation_space or venv.observation_space, 
-            action_space=action_space or venv.action_space)
+        VecEnv.__init__(self,
+                        num_envs=venv.num_envs,
+                        observation_space=observation_space or venv.observation_space,
+                        action_space=action_space or venv.action_space)
 
     def step_async(self, actions):
         self.venv.step_async(actions)
@@ -109,18 +154,24 @@ class VecEnvWrapper(VecEnv):
     def close(self):
         return self.venv.close()
 
-    def render(self):
-        self.venv.render()
+    def render(self, mode='human'):
+        return self.venv.render(mode=mode)
+
+    def get_images(self):
+        return self.venv.get_images()
 
 class CloudpickleWrapper(object):
     """
     Uses cloudpickle to serialize contents (otherwise multiprocessing tries to use pickle)
     """
+
     def __init__(self, x):
         self.x = x
+
     def __getstate__(self):
         import cloudpickle
         return cloudpickle.dumps(self.x)
+
     def __setstate__(self, ob):
         import pickle
         self.x = pickle.loads(ob)

baselines/common/vec_env/dummy_vec_env.py

@@ -1,28 +1,16 @@
 import numpy as np
 from gym import spaces
-from collections import OrderedDict
 from . import VecEnv
+from .util import copy_obs_dict, dict_to_obs, obs_space_info
 
 class DummyVecEnv(VecEnv):
     def __init__(self, env_fns):
         self.envs = [fn() for fn in env_fns]
         env = self.envs[0]
         VecEnv.__init__(self, len(env_fns), env.observation_space, env.action_space)
-        shapes, dtypes = {}, {}
-        self.keys = []
         obs_space = env.observation_space
-
-        if isinstance(obs_space, spaces.Dict):
-            assert isinstance(obs_space.spaces, OrderedDict)
-            subspaces = obs_space.spaces
-        else:
-            subspaces = {None: obs_space}
-
-        for key, box in subspaces.items():
-            shapes[key] = box.shape
-            dtypes[key] = box.dtype
-            self.keys.append(key)
-        
+ 
+        self.keys, shapes, dtypes = obs_space_info(obs_space)       
         self.buf_obs = { k: np.zeros((self.num_envs,) + tuple(shapes[k]), dtype=dtypes[k]) for k in self.keys }
         self.buf_dones = np.zeros((self.num_envs,), dtype=np.bool)
         self.buf_rews  = np.zeros((self.num_envs,), dtype=np.float32)
@@ -53,7 +41,7 @@ class DummyVecEnv(VecEnv):
             if self.buf_dones[e]:
                 obs = self.envs[e].reset()
             self._save_obs(e, obs)
-        return (np.copy(self._obs_from_buf()), np.copy(self.buf_rews), np.copy(self.buf_dones),
+        return (self._obs_from_buf(), np.copy(self.buf_rews), np.copy(self.buf_dones),
                 self.buf_infos.copy())
 
     def reset(self):
@@ -65,9 +53,6 @@ class DummyVecEnv(VecEnv):
     def close(self):
         return
 
-    def render(self, mode='human'):
-        return [e.render(mode=mode) for e in self.envs]
-
     def _save_obs(self, e, obs):
         for k in self.keys:
             if k is None:
@@ -76,7 +61,8 @@ class DummyVecEnv(VecEnv):
                 self.buf_obs[k][e] = obs[k]
 
     def _obs_from_buf(self):
-        if self.keys==[None]:
-            return self.buf_obs[None]
-        else:
-            return self.buf_obs
+        return dict_to_obs(copy_obs_dict(self.buf_obs))
+
+    def get_images(self):
+        return [env.render(mode='rgb_array') for env in self.envs]
+        

baselines/common/vec_env/shmem_vec_env.py

@@ -0,0 +1,138 @@
+"""
+An interface for asynchronous vectorized environments.
+"""
+
+from multiprocessing import Pipe, Array, Process
+import numpy as np
+from . import VecEnv, CloudpickleWrapper
+import ctypes
+from baselines import logger
+
+from .util import dict_to_obs, obs_space_info, obs_to_dict
+
+_NP_TO_CT = {np.float32: ctypes.c_float,
+             np.int32: ctypes.c_int32,
+             np.int8: ctypes.c_int8,
+             np.uint8: ctypes.c_char,
+             np.bool: ctypes.c_bool}
+
+
+class ShmemVecEnv(VecEnv):
+    """
+    An AsyncEnv that uses multiprocessing to run multiple
+    environments in parallel.
+    """
+
+    def __init__(self, env_fns, spaces=None):
+        """
+        If you don't specify observation_space, we'll have to create a dummy
+        environment to get it.
+        """
+        if spaces:
+            observation_space, action_space = spaces
+        else:
+            logger.log('Creating dummy env object to get spaces')
+            with logger.scoped_configure(format_strs=[]):
+                dummy = env_fns[0]()
+                observation_space, action_space = dummy.observation_space, dummy.action_space
+                dummy.close()
+                del dummy
+        VecEnv.__init__(self, len(env_fns), observation_space, action_space)
+        self.obs_keys, self.obs_shapes, self.obs_dtypes = obs_space_info(observation_space)
+        self.obs_bufs = [
+            {k: Array(_NP_TO_CT[self.obs_dtypes[k].type], int(np.prod(self.obs_shapes[k]))) for k in self.obs_keys}
+            for _ in env_fns]
+        self.parent_pipes = []
+        self.procs = []
+        for env_fn, obs_buf in zip(env_fns, self.obs_bufs):
+            wrapped_fn = CloudpickleWrapper(env_fn)
+            parent_pipe, child_pipe = Pipe()
+            proc = Process(target=_subproc_worker,
+                           args=(child_pipe, parent_pipe, wrapped_fn, obs_buf, self.obs_shapes, self.obs_dtypes, self.obs_keys))
+            proc.daemon = True
+            self.procs.append(proc)
+            self.parent_pipes.append(parent_pipe)
+            proc.start()
+            child_pipe.close()
+        self.waiting_step = False
+        self.viewer = None
+
+    def reset(self):
+        if self.waiting_step:
+            logger.warn('Called reset() while waiting for the step to complete')
+            self.step_wait()
+        for pipe in self.parent_pipes:
+            pipe.send(('reset', None))
+        return self._decode_obses([pipe.recv() for pipe in self.parent_pipes])
+
+    def step_async(self, actions):
+        assert len(actions) == len(self.parent_pipes)
+        for pipe, act in zip(self.parent_pipes, actions):
+            pipe.send(('step', act))
+
+    def step_wait(self):
+        outs = [pipe.recv() for pipe in self.parent_pipes]
+        obs, rews, dones, infos = zip(*outs)
+        return self._decode_obses(obs), np.array(rews), np.array(dones), infos
+
+    def close_extras(self):
+        if self.waiting_step:
+            self.step_wait()
+        for pipe in self.parent_pipes:
+            pipe.send(('close', None))
+        for pipe in self.parent_pipes:
+            pipe.recv()
+            pipe.close()
+        for proc in self.procs:
+            proc.join()
+
+    def get_images(self, mode='human'):
+        for pipe in self.parent_pipes:
+            pipe.send(('render', None))
+        return [pipe.recv() for pipe in self.parent_pipes]
+
+    def _decode_obses(self, obs):
+        result = {}
+        for k in self.obs_keys:
+
+            bufs = [b[k] for b in self.obs_bufs]
+            o = [np.frombuffer(b.get_obj(), dtype=self.obs_dtypes[k]).reshape(self.obs_shapes[k]) for b in bufs]
+            result[k] = np.array(o)
+        return dict_to_obs(result)
+
+
+def _subproc_worker(pipe, parent_pipe, env_fn_wrapper, obs_bufs, obs_shapes, obs_dtypes, keys):
+    """
+    Control a single environment instance using IPC and
+    shared memory.
+    """
+    def _write_obs(maybe_dict_obs):
+        flatdict = obs_to_dict(maybe_dict_obs)
+        for k in keys:
+            dst = obs_bufs[k].get_obj()
+            dst_np = np.frombuffer(dst, dtype=obs_dtypes[k]).reshape(obs_shapes[k])  # pylint: disable=W0212
+            np.copyto(dst_np, flatdict[k])
+
+    env = env_fn_wrapper.x()
+    parent_pipe.close()
+    try:
+        while True:
+            cmd, data = pipe.recv()
+            if cmd == 'reset':
+                pipe.send(_write_obs(env.reset()))
+            elif cmd == 'step':
+                obs, reward, done, info = env.step(data)
+                if done:
+                    obs = env.reset()
+                pipe.send((_write_obs(obs), reward, done, info))
+            elif cmd == 'render':
+                pipe.send(env.render(mode='rgb_array'))
+            elif cmd == 'close':
+                pipe.send(None)
+                break
+            else:
+                raise RuntimeError('Got unrecognized cmd %s' % cmd)
+    except KeyboardInterrupt:
+        print('ShmemVecEnv worker: got KeyboardInterrupt')
+    finally:
+        env.close()

baselines/common/vec_env/subproc_vec_env.py

@@ -1,8 +1,6 @@
 import numpy as np
 from multiprocessing import Process, Pipe
-from baselines.common.vec_env import VecEnv, CloudpickleWrapper
-from baselines.common.tile_images import tile_images
-
+from . import VecEnv, CloudpickleWrapper
 
 def worker(remote, parent_remote, env_fn_wrapper):
     parent_remote.close()
@@ -32,25 +30,26 @@ def worker(remote, parent_remote, env_fn_wrapper):
     finally:
         env.close()
 
+
 class SubprocVecEnv(VecEnv):
     def __init__(self, env_fns, spaces=None):
         """
         envs: list of gym environments to run in subprocesses
         """
         self.waiting = False
-        self.closed = False
         nenvs = len(env_fns)
         self.remotes, self.work_remotes = zip(*[Pipe() for _ in range(nenvs)])
         self.ps = [Process(target=worker, args=(work_remote, remote, CloudpickleWrapper(env_fn)))
-            for (work_remote, remote, env_fn) in zip(self.work_remotes, self.remotes, env_fns)]
+                   for (work_remote, remote, env_fn) in zip(self.work_remotes, self.remotes, env_fns)]
         for p in self.ps:
-            p.daemon = True # if the main process crashes, we should not cause things to hang
+            p.daemon = True  # if the main process crashes, we should not cause things to hang
             p.start()
         for remote in self.work_remotes:
             remote.close()
 
         self.remotes[0].send(('get_spaces', None))
         observation_space, action_space = self.remotes[0].recv()
+        self.viewer = None
         VecEnv.__init__(self, len(env_fns), observation_space, action_space)
 
     def step_async(self, actions):
@@ -69,33 +68,17 @@ class SubprocVecEnv(VecEnv):
             remote.send(('reset', None))
         return np.stack([remote.recv() for remote in self.remotes])
 
-    def reset_task(self):
-        for remote in self.remotes:
-            remote.send(('reset_task', None))
-        return np.stack([remote.recv() for remote in self.remotes])
-
-    def close(self):
-        if self.closed:
-            return
+    def close_extras(self):
         if self.waiting:
-            for remote in self.remotes:            
+            for remote in self.remotes:
                 remote.recv()
         for remote in self.remotes:
             remote.send(('close', None))
         for p in self.ps:
             p.join()
-        self.closed = True
 
-    def render(self, mode='human'):
+    def get_images(self):
         for pipe in self.remotes:
             pipe.send(('render', None))
         imgs = [pipe.recv() for pipe in self.remotes]
-        bigimg = tile_images(imgs)
-        if mode == 'human':
-            import cv2
-            cv2.imshow('vecenv', bigimg[:,:,::-1])
-            cv2.waitKey(1)
-        elif mode == 'rgb_array':
-            return bigimg
-        else:
-            raise NotImplementedError
+        return imgs

baselines/common/vec_env/test_vec_env.py

@@ -0,0 +1,101 @@
+"""
+Tests for asynchronous vectorized environments.
+"""
+
+import gym
+import numpy as np
+import pytest
+from .dummy_vec_env import DummyVecEnv
+from .shmem_vec_env import ShmemVecEnv
+from .subproc_vec_env import SubprocVecEnv
+
+
+def assert_envs_equal(env1, env2, num_steps):
+    """
+    Compare two environments over num_steps steps and make sure
+    that the observations produced by each are the same when given
+    the same actions.
+    """
+    assert env1.num_envs == env2.num_envs
+    assert env1.action_space.shape == env2.action_space.shape
+    assert env1.action_space.dtype == env2.action_space.dtype
+    joint_shape = (env1.num_envs,) + env1.action_space.shape
+
+    try:
+        obs1, obs2 = env1.reset(), env2.reset()
+        assert np.array(obs1).shape == np.array(obs2).shape
+        assert np.array(obs1).shape == joint_shape
+        assert np.allclose(obs1, obs2)
+        np.random.seed(1337)
+        for _ in range(num_steps):
+            actions = np.array(np.random.randint(0, 0x100, size=joint_shape),
+                               dtype=env1.action_space.dtype)
+            for env in [env1, env2]:
+                env.step_async(actions)
+            outs1 = env1.step_wait()
+            outs2 = env2.step_wait()
+            for out1, out2 in zip(outs1[:3], outs2[:3]):
+                assert np.array(out1).shape == np.array(out2).shape
+                assert np.allclose(out1, out2)
+            assert list(outs1[3]) == list(outs2[3])
+    finally:
+        env1.close()
+        env2.close()
+
+
+@pytest.mark.parametrize('klass', (ShmemVecEnv, SubprocVecEnv))
+@pytest.mark.parametrize('dtype', ('uint8', 'float32'))
+def test_vec_env(klass, dtype):  # pylint: disable=R0914
+    """
+    Test that a vectorized environment is equivalent to
+    DummyVecEnv, since DummyVecEnv is less likely to be
+    error prone.
+    """
+    num_envs = 3
+    num_steps = 100
+    shape = (3, 8)
+
+    def make_fn(seed):
+        """
+        Get an environment constructor with a seed.
+        """
+        return lambda: SimpleEnv(seed, shape, dtype)
+    fns = [make_fn(i) for i in range(num_envs)]
+    env1 = DummyVecEnv(fns)
+    env2 = klass(fns)
+    assert_envs_equal(env1, env2, num_steps=num_steps)
+
+
+class SimpleEnv(gym.Env):
+    """
+    An environment with a pre-determined observation space
+    and RNG seed.
+    """
+
+    def __init__(self, seed, shape, dtype):
+        np.random.seed(seed)
+        self._dtype = dtype
+        self._start_obs = np.array(np.random.randint(0, 0x100, size=shape),
+                                   dtype=dtype)
+        self._max_steps = seed + 1
+        self._cur_obs = None
+        self._cur_step = 0
+        # this is 0xFF instead of 0x100 because the Box space includes
+        # the high end, while randint does not
+        self.action_space = gym.spaces.Box(low=0, high=0xFF, shape=shape, dtype=dtype)
+        self.observation_space = self.action_space
+
+    def step(self, action):
+        self._cur_obs += np.array(action, dtype=self._dtype)
+        self._cur_step += 1
+        done = self._cur_step >= self._max_steps
+        reward = self._cur_step / self._max_steps
+        return self._cur_obs, reward, done, {'foo': 'bar' + str(reward)}
+
+    def reset(self):
+        self._cur_obs = self._start_obs
+        self._cur_step = 0
+        return self._cur_obs
+
+    def render(self, mode=None):
+        raise NotImplementedError

baselines/common/vec_env/util.py

@@ -0,0 +1,59 @@
+"""
+Helpers for dealing with vectorized environments.
+"""
+
+from collections import OrderedDict
+
+import gym
+import numpy as np
+
+
+def copy_obs_dict(obs):
+    """
+    Deep-copy an observation dict.
+    """
+    return {k: np.copy(v) for k, v in obs.items()}
+
+
+def dict_to_obs(obs_dict):
+    """
+    Convert an observation dict into a raw array if the
+    original observation space was not a Dict space.
+    """
+    if set(obs_dict.keys()) == {None}:
+        return obs_dict[None]
+    return obs_dict
+
+
+def obs_space_info(obs_space):
+    """
+    Get dict-structured information about a gym.Space.
+
+    Returns:
+      A tuple (keys, shapes, dtypes):
+        keys: a list of dict keys.
+        shapes: a dict mapping keys to shapes.
+        dtypes: a dict mapping keys to dtypes.
+    """
+    if isinstance(obs_space, gym.spaces.Dict):
+        assert isinstance(obs_space.spaces, OrderedDict)
+        subspaces = obs_space.spaces
+    else:
+        subspaces = {None: obs_space}
+    keys = []
+    shapes = {}
+    dtypes = {}
+    for key, box in subspaces.items():
+        keys.append(key)
+        shapes[key] = box.shape
+        dtypes[key] = box.dtype
+    return keys, shapes, dtypes
+
+
+def obs_to_dict(obs):
+    """
+    Convert an observation into a dict.
+    """
+    if isinstance(obs, dict):
+        return obs
+    return {None: obs}

baselines/common/vec_env/vec_frame_stack.py

@@ -1,18 +1,16 @@
-from baselines.common.vec_env import VecEnvWrapper
+from . import VecEnvWrapper
 import numpy as np
 from gym import spaces
 
+
 class VecFrameStack(VecEnvWrapper):
-    """
-    Vectorized environment base class
-    """
     def __init__(self, venv, nstack):
         self.venv = venv
         self.nstack = nstack
-        wos = venv.observation_space # wrapped ob space
+        wos = venv.observation_space  # wrapped ob space
         low = np.repeat(wos.low, self.nstack, axis=-1)
         high = np.repeat(wos.high, self.nstack, axis=-1)
-        self.stackedobs = np.zeros((venv.num_envs,)+low.shape, low.dtype)
+        self.stackedobs = np.zeros((venv.num_envs,) + low.shape, low.dtype)
         observation_space = spaces.Box(low=low, high=high, dtype=venv.observation_space.dtype)
         VecEnvWrapper.__init__(self, venv, observation_space=observation_space)
 
@@ -26,9 +24,6 @@ class VecFrameStack(VecEnvWrapper):
         return self.stackedobs, rews, news, infos
 
     def reset(self):
-        """
-        Reset all environments
-        """
         obs = self.venv.reset()
         self.stackedobs[...] = 0
         self.stackedobs[..., -obs.shape[-1]:] = obs

baselines/common/vec_env/vec_monitor.py

@@ -0,0 +1,29 @@
+from . import VecEnvWrapper
+import numpy as np
+
+
+class VecMonitor(VecEnvWrapper):
+    def __init__(self, venv):
+        VecEnvWrapper.__init__(self, venv)
+        self.eprets = None
+        self.eplens = None
+
+    def reset(self):
+        obs = self.venv.reset()
+        self.eprets = np.zeros(self.num_envs, 'f')
+        self.eplens = np.zeros(self.num_envs, 'i')
+        return obs
+
+    def step_wait(self):
+        obs, rews, dones, infos = self.venv.step_wait()
+        self.eprets += rews
+        self.eplens += 1
+        newinfos = []
+        for (i, (done, ret, eplen, info)) in enumerate(zip(dones, self.eprets, self.eplens, infos)):
+            info = info.copy()
+            if done:
+                info['episode'] = {'r': ret, 'l': eplen}
+                self.eprets[i] = 0
+                self.eplens[i] = 0
+            newinfos.append(info)
+        return obs, rews, dones, newinfos

baselines/common/vec_env/vec_normalize.py

@@ -1,17 +1,18 @@
-from baselines.common.vec_env import VecEnvWrapper
+from . import VecEnvWrapper
 from baselines.common.running_mean_std import RunningMeanStd
 import numpy as np
 
+
 class VecNormalize(VecEnvWrapper):
     """
-    Vectorized environment base class
+    A vectorized wrapper that normalizes the observations
+    and returns from an environment.
     """
+
     def __init__(self, venv, ob=True, ret=True, clipob=10., cliprew=10., gamma=0.99, epsilon=1e-8):
         VecEnvWrapper.__init__(self, venv)
         self.ob_rms = RunningMeanStd(shape=self.observation_space.shape) if ob else None
         self.ret_rms = RunningMeanStd(shape=()) if ret else None
-        #self.ob_rms = TfRunningMeanStd(shape=self.observation_space.shape, scope='observation_running_mean_std') if ob else None
-        #self.ret_rms = TfRunningMeanStd(shape=(), scope='return_running_mean_std') if ret else None
         self.clipob = clipob
         self.cliprew = cliprew
         self.ret = np.zeros(self.num_envs)
@@ -19,12 +20,6 @@ class VecNormalize(VecEnvWrapper):
         self.epsilon = epsilon
 
     def step_wait(self):
-        """
-        Apply sequence of actions to sequence of environments
-        actions -> (observations, rewards, news)
-
-        where 'news' is a boolean vector indicating whether each element is new.
-        """
         obs, rews, news, infos = self.venv.step_wait()
         self.ret = self.ret * self.gamma + rews
         obs = self._obfilt(obs)
@@ -42,8 +37,5 @@ class VecNormalize(VecEnvWrapper):
             return obs
 
     def reset(self):
-        """
-        Reset all environments
-        """
         obs = self.venv.reset()
         return self._obfilt(obs)

baselines/deepq/README.md

@@ -11,7 +11,7 @@ Here's a list of commands to run to quickly get a working example:
 # Train model and save the results to cartpole_model.pkl
 python -m baselines.run --alg=deepq --env=CartPole-v0 --save_path=./cartpole_model.pkl --num_timesteps=1e5
 # Load the model saved in cartpole_model.pkl and visualize the learned policy
-python -m baselines.run --alg=deepq --env=CartPole-v0 --load_apth=./cartpole_model.pkl --num_timesteps=0 --play
+python -m baselines.run --alg=deepq --env=CartPole-v0 --load_path=./cartpole_model.pkl --num_timesteps=0 --play
 ```
 
 ## If you wish to apply DQN to solve a problem.

baselines/ppo2/ppo2.py

@@ -163,7 +163,7 @@ def learn(*, network, env, total_timesteps, seed=None, nsteps=2048, ent_coef=0.0
                                       specifying the standard network architecture, or a function that takes tensorflow tensor as input and returns 
                                       tuple (output_tensor, extra_feed) where output tensor is the last network layer output, extra_feed is None for feed-forward
                                       neural nets, and extra_feed is a dictionary describing how to feed state into the network for recurrent neural nets.
-                                      See baselines.common/policies.py/lstm for more details on using recurrent nets in policies
+                                      See common/models.py/lstm for more details on using recurrent nets in policies
 
     env: baselines.common.vec_env.VecEnv     environment. Needs to be vectorized for parallel environment simulation. 
                                       The environments produced by gym.make can be wrapped using baselines.common.vec_env.DummyVecEnv class.
@@ -189,7 +189,8 @@ def learn(*, network, env, total_timesteps, seed=None, nsteps=2048, ent_coef=0.0
 
     log_interval: int                 number of timesteps between logging events
 
-    nminibatches: int                 number of training minibatches per update
+    nminibatches: int                 number of training minibatches per update. For recurrent policies, 
+                                      should be smaller or equal than number of environments run in parallel. 
 
     noptepochs: int                   number of training epochs per update
 
@@ -226,10 +227,6 @@ def learn(*, network, env, total_timesteps, seed=None, nsteps=2048, ent_coef=0.0
     make_model = lambda : Model(policy=policy, ob_space=ob_space, ac_space=ac_space, nbatch_act=nenvs, nbatch_train=nbatch_train,
                     nsteps=nsteps, ent_coef=ent_coef, vf_coef=vf_coef,
                     max_grad_norm=max_grad_norm)
-    if save_interval and logger.get_dir():
-        import cloudpickle
-        with open(osp.join(logger.get_dir(), 'make_model.pkl'), 'wb') as fh:
-            fh.write(cloudpickle.dumps(make_model))
     model = make_model()
     if load_path is not None:
         model.load(load_path)

baselines/run.py

@@ -1,20 +1,19 @@
 import sys
-import multiprocessing 
-import os
+import multiprocessing
 import os.path as osp
 import gym
 from collections import defaultdict
 import tensorflow as tf
+import numpy as np
 
 from baselines.common.vec_env.vec_frame_stack import VecFrameStack
-from baselines.common.cmd_util import common_arg_parser, parse_unknown_args, make_mujoco_env, make_atari_env
-from baselines.common.tf_util import save_state, load_state, get_session
+from baselines.common.cmd_util import common_arg_parser, parse_unknown_args, make_vec_env
+from baselines.common.tf_util import get_session
 from baselines import bench, logger
 from importlib import import_module
 
 from baselines.common.vec_env.vec_normalize import VecNormalize
 from baselines.common.vec_env.dummy_vec_env import DummyVecEnv
-from baselines.common.vec_env.subproc_vec_env import SubprocVecEnv
 from baselines.common import atari_wrappers, retro_wrappers
 
 try:
@@ -28,10 +27,10 @@ for env in gym.envs.registry.all():
     env_type = env._entry_point.split(':')[0].split('.')[-1]
     _game_envs[env_type].add(env.id)
 
-# reading benchmark names directly from retro requires 
-# importing retro here, and for some reason that crashes tensorflow 
-# in ubuntu 
-_game_envs['retro'] = set([
+# reading benchmark names directly from retro requires
+# importing retro here, and for some reason that crashes tensorflow
+# in ubuntu
+_game_envs['retro'] = {
     'BubbleBobble-Nes',
     'SuperMarioBros-Nes',
     'TwinBee3PokoPokoDaimaou-Nes',
@@ -40,12 +39,12 @@ _game_envs['retro'] = set([
     'Vectorman-Genesis',
     'FinalFight-Snes',
     'SpaceInvaders-Snes',
-])
+}
 
 
 def train(args, extra_args):
     env_type, env_id = get_env_type(args.env)
-        
+
     total_timesteps = int(args.num_timesteps)
     seed = args.seed
 
@@ -60,13 +59,11 @@ def train(args, extra_args):
     else:
         if alg_kwargs.get('network') is None:
             alg_kwargs['network'] = get_default_network(env_type)
- 
-       
-    
+
     print('Training {} on {}:{} with arguments \n{}'.format(args.alg, env_type, env_id, alg_kwargs))
 
     model = learn(
-        env=env,  
+        env=env,
         seed=seed,
         total_timesteps=total_timesteps,
         **alg_kwargs
@@ -75,30 +72,30 @@ def train(args, extra_args):
     return model, env
 
 
-def build_env(args, render=False):
+def build_env(args):
     ncpu = multiprocessing.cpu_count()
     if sys.platform == 'darwin': ncpu //= 2
-    nenv = args.num_env or ncpu if not render else 1
+    nenv = args.num_env or ncpu
     alg = args.alg
     rank = MPI.COMM_WORLD.Get_rank() if MPI else 0
-    seed = args.seed    
+    seed = args.seed
 
     env_type, env_id = get_env_type(args.env)
     if env_type == 'mujoco':
         get_session(tf.ConfigProto(allow_soft_placement=True,
-                                   intra_op_parallelism_threads=1, 
+                                   intra_op_parallelism_threads=1,
                                    inter_op_parallelism_threads=1))
 
         if args.num_env:
-            env = SubprocVecEnv([lambda: make_mujoco_env(env_id, seed + i if seed is not None else None, args.reward_scale) for i in range(args.num_env)])    
+            env = make_vec_env(env_id, env_type, nenv, seed, reward_scale=args.reward_scale)
         else:
-            env = DummyVecEnv([lambda: make_mujoco_env(env_id, seed, args.reward_scale)])
+            env = make_vec_env(env_id, env_type, 1, seed, reward_scale=args.reward_scale)
 
         env = VecNormalize(env)
 
     elif env_type == 'atari':
         if alg == 'acer':
-            env = make_atari_env(env_id, nenv, seed)
+            env = make_vec_env(env_id, env_type, nenv, seed)
         elif alg == 'deepq':
             env = atari_wrappers.make_atari(env_id)
             env.seed(seed)
@@ -113,23 +110,24 @@ def build_env(args, render=False):
             env.seed(seed)
         else:
             frame_stack_size = 4
-            env = VecFrameStack(make_atari_env(env_id, nenv, seed), frame_stack_size)
+            env = VecFrameStack(make_vec_env(env_id, env_type, nenv, seed), frame_stack_size)
 
     elif env_type == 'retro':
         import retro
         gamestate = args.gamestate or 'Level1-1'
-        env = retro_wrappers.make_retro(game=args.env, state=gamestate, max_episode_steps=10000, use_restricted_actions=retro.Actions.DISCRETE)
+        env = retro_wrappers.make_retro(game=args.env, state=gamestate, max_episode_steps=10000,
+                                        use_restricted_actions=retro.Actions.DISCRETE)
         env.seed(args.seed)
         env = bench.Monitor(env, logger.get_dir())
         env = retro_wrappers.wrap_deepmind_retro(env)
-        
+
     elif env_type == 'classic_control':
         def make_env():
             e = gym.make(env_id)
             e = bench.Monitor(e, logger.get_dir(), allow_early_resets=True)
             e.seed(seed)
             return e
-            
+
         env = DummyVecEnv([make_env])
 
     else:
@@ -141,17 +139,18 @@ def build_env(args, render=False):
 def get_env_type(env_id):
     if env_id in _game_envs.keys():
         env_type = env_id
-        env_id =  [g for g in _game_envs[env_type]][0]
+        env_id = [g for g in _game_envs[env_type]][0]
     else:
         env_type = None
         for g, e in _game_envs.items():
             if env_id in e:
                 env_type = g
-                break 
+                break
         assert env_type is not None, 'env_id {} is not recognized in env types'.format(env_id, _game_envs.keys())
 
     return env_type, env_id
 
+
 def get_default_network(env_type):
     if env_type == 'mujoco' or env_type == 'classic_control':
         return 'mlp'
@@ -159,7 +158,8 @@ def get_default_network(env_type):
         return 'cnn'
 
     raise ValueError('Unknown env_type {}'.format(env_type))
-    
+
+
 def get_alg_module(alg, submodule=None):
     submodule = submodule or alg
     try:
@@ -168,46 +168,47 @@ def get_alg_module(alg, submodule=None):
     except ImportError:
         # then from rl_algs
         alg_module = import_module('.'.join(['rl_' + 'algs', alg, submodule]))
-    
+
     return alg_module
-        
+
 
 def get_learn_function(alg):
     return get_alg_module(alg).learn
 
+
 def get_learn_function_defaults(alg, env_type):
     try:
         alg_defaults = get_alg_module(alg, 'defaults')
         kwargs = getattr(alg_defaults, env_type)()
     except (ImportError, AttributeError):
-        kwargs = {}       
+        kwargs = {}
     return kwargs
-    
-def parse(v): 
+
+
+def parse(v):
     '''
     convert value of a command-line arg to a python object if possible, othewise, keep as string
     '''
 
     assert isinstance(v, str)
     try:
-        return eval(v) 
-    except (NameError, SyntaxError): 
+        return eval(v)
+    except (NameError, SyntaxError):
         return v
 
 
 def main():
-    # configure logger, disable logging in child MPI processes (with rank > 0) 
-            
+    # configure logger, disable logging in child MPI processes (with rank > 0)
+
     arg_parser = common_arg_parser()
     args, unknown_args = arg_parser.parse_known_args()
-    extra_args = {k: parse(v) for k,v in parse_unknown_args(unknown_args).items()}
+    extra_args = {k: parse(v) for k, v in parse_unknown_args(unknown_args).items()}
 
-    
     if MPI is None or MPI.COMM_WORLD.Get_rank() == 0:
         rank = 0
         logger.configure()
     else:
-        logger.configure(format_strs = [])
+        logger.configure(format_strs=[])
         rank = MPI.COMM_WORLD.Get_rank()
 
     model, _ = train(args, extra_args)
@@ -215,19 +216,19 @@ def main():
     if args.save_path is not None and rank == 0:
         save_path = osp.expanduser(args.save_path)
         model.save(save_path)
-    
 
     if args.play:
         logger.log("Running trained model")
-        env = build_env(args, render=True)
+        env = build_env(args)
         obs = env.reset()
         while True:
             actions = model.step(obs)[0]
-            obs, _, done, _  = env.step(actions)
+            obs, _, done, _ = env.step(actions)
             env.render()
+            done = done.any() if isinstance(done, np.ndarray) else done
+
             if done:
                 obs = env.reset()
-            
 
 
 if __name__ == '__main__':

baselines/trpo_mpi/defaults.py

@@ -1,4 +1,4 @@
-from rl_common.models import mlp, cnn_small
+from baselines.common.models import mlp, cnn_small
 
 
 def atari():

conftest.py

@@ -1,19 +0,0 @@
-import pytest
-
-
-def pytest_addoption(parser):
-    parser.addoption('--runslow', action='store_true', default=False, help='run slow tests')
-
-
-def pytest_collection_modifyitems(config, items):
-    if config.getoption('--runslow'):
-        # --runslow given in cli: do not skip slow tests
-        return
-    skip_slow = pytest.mark.skip(reason='need --runslow option to run')
-    slow_tests = []
-    for item in items:
-        if 'slow' in item.keywords:
-            slow_tests.append(item.name)
-            item.add_marker(skip_slow)
-
-    print('skipping slow tests', ' '.join(slow_tests), 'use --runslow to run this')

setup.cfg

@@ -0,0 +1,15 @@
+[flake8]
+select = F,E999
+exclude = 
+    .git,
+    __pycache__,
+    baselines/her,
+    baselines/ddpg,
+    baselines/ppo1,
+    baselines/bench,
+    baselines/acktr, 
+    
+    
+    
+    
+

setup.py

@@ -6,6 +6,20 @@ if sys.version_info.major != 3:
           'Python {}. The installation will likely fail.'.format(sys.version_info.major))
 
 
+extras = {
+    'test': [
+        'filelock', 
+        'pytest'
+    ]
+}
+
+
+all_deps = []
+for group_name in extras:
+    all_deps += extras[group_name]
+
+extras['all'] = all_deps
+
 setup(name='baselines',
       packages=[package for package in find_packages()
                 if package.startswith('baselines')],
@@ -18,18 +32,21 @@ setup(name='baselines',
           'progressbar2',
           'mpi4py',
           'cloudpickle',
-          'tensorflow>=1.4.0',
           'click',
           'opencv-python'
       ],
-      extras_require={
-        'test': [
-            'filelock',
-            'pytest'
-        ]
-      },
+      extras_require=extras,
       description='OpenAI baselines: high quality implementations of reinforcement learning algorithms',
       author='OpenAI',
       url='https://github.com/openai/baselines',
       author_email='gym@openai.com',
       version='0.1.5')
+
+
+# ensure there is some tensorflow build with version above 1.4
+try:
+    from distutils.version import StrictVersion
+    import tensorflow
+    assert StrictVersion(tensorflow.__version__) >= StrictVersion('1.4.0')
+except ImportError:
+    assert False, "TensorFlow needed, of version above 1.4"