├── _base ├── _ddpg.yml ├── _td3.yml ├── _d4pg.yml ├── _d3pg.yml ├── soft_update.yml ├── _qd4pg.yml ├── _sac.yml ├── _agents1.yml ├── _agents101.yml ├── _agents1_sac.yml ├── _agents101_sac.yml └── _all.yml ├── dms_walker ├── d3pg.yml ├── d4pg.yml └── qd4pg.yml ├── dms_cheetah ├── d3pg.yml ├── d4pg.yml └── qd4pg.yml ├── dms_reacher ├── d3pg.yml ├── d4pg.yml └── qd4pg.yml ├── dms_humanoid ├── d4pg.yml ├── qd4pg.yml └── d3pg.yml ├── gym_bipedalwalker_simple ├── d3pg.yml ├── qd4pg.yml └── d4pg.yml ├── gym_bipedalwalker_hardcore ├── d3pg.yml ├── qd4pg.yml └── d4pg.yml ├── LICENSE ├── .gitignore ├── dms_env └── suite_wrapper.py ├── bin └── grid_run.sh ├── README.md └── gym_lunarlander ├── qd4pg.yml ├── td3_qd4pg.yml └── sac_d3pg.yml /_base/_ddpg.yml: -------------------------------------------------------------------------------- 1 | args: 2 | algorithm: DDPG 3 | -------------------------------------------------------------------------------- /_base/_td3.yml: -------------------------------------------------------------------------------- 1 | args: 2 | algorithm: TD3 3 | -------------------------------------------------------------------------------- /_base/_d4pg.yml: -------------------------------------------------------------------------------- 1 | algorithm: 2 | critic_distribution: categorical 3 | values_range: [-100, 100] 4 | -------------------------------------------------------------------------------- /_base/_d3pg.yml: -------------------------------------------------------------------------------- 1 | algorithm: 2 | critic_loss_params: 3 | criterion: HuberLoss 4 | clip_delta: 10.0 5 | -------------------------------------------------------------------------------- /_base/soft_update.yml: -------------------------------------------------------------------------------- 1 | algorithm: 2 | actor_tau: 0.01 3 | critic_tau: 0.01 4 | 5 | trainer: 6 | target_update_period: 1 # batches -------------------------------------------------------------------------------- /_base/_qd4pg.yml: -------------------------------------------------------------------------------- 1 | algorithm: 2 | critic_distribution: quantile 3 | 4 | critic_loss_params: 5 | criterion: HuberLoss 6 | clip_delta: 1.0 7 | -------------------------------------------------------------------------------- /_base/_sac.yml: -------------------------------------------------------------------------------- 1 | args: 2 | algorithm: SAC 3 | action_noise_prob: 0.0 4 | max_action_noise: 0.01 5 | 6 | algorithm: 7 | reward_scale: 150.0 8 | -------------------------------------------------------------------------------- /dms_walker/d3pg.yml: -------------------------------------------------------------------------------- 1 | args: 2 | expdir: ./dms_env 3 | logdir: ./logs/dms_walker/d3pg # change me 4 | environment: SuiteWrapper 5 | 6 | redis: 7 | port: 12111 8 | prefix: dms-walker-d3pg 9 | 10 | env: 11 | domain_task: walker-run 12 | -------------------------------------------------------------------------------- /dms_walker/d4pg.yml: -------------------------------------------------------------------------------- 1 | args: 2 | expdir: ./dms_env 3 | logdir: ./logs/dms_walker/d4pg # change me 4 | environment: SuiteWrapper 5 | 6 | redis: 7 | port: 12112 8 | prefix: dms-walker-d4pg 9 | 10 | env: 11 | domain_task: walker-run 12 | -------------------------------------------------------------------------------- /dms_cheetah/d3pg.yml: -------------------------------------------------------------------------------- 1 | args: 2 | expdir: ./dms_env 3 | logdir: ./logs/dms_cheetah/d3pg # change me 4 | environment: SuiteWrapper 5 | 6 | redis: 7 | port: 12111 8 | prefix: dms-cheetah-d3pg 9 | 10 | env: 11 | domain_task: cheetah-run 12 | -------------------------------------------------------------------------------- /dms_cheetah/d4pg.yml: -------------------------------------------------------------------------------- 1 | args: 2 | expdir: ./dms_env 3 | logdir: ./logs/dms_cheetah/d4pg # change me 4 | environment: SuiteWrapper 5 | 6 | redis: 7 | port: 12112 8 | prefix: dms-cheetah-d4pg 9 | 10 | env: 11 | domain_task: cheetah-run 12 | -------------------------------------------------------------------------------- /dms_cheetah/qd4pg.yml: -------------------------------------------------------------------------------- 1 | args: 2 | expdir: ./dms_env 3 | logdir: ./logs/dms_cheetah/qd4pg # change me 4 | environment: SuiteWrapper 5 | 6 | redis: 7 | port: 12113 8 | prefix: dms-cheetah-qd4pg 9 | 10 | env: 11 | domain_task: cheetah-run 12 | -------------------------------------------------------------------------------- /dms_reacher/d3pg.yml: -------------------------------------------------------------------------------- 1 | args: 2 | expdir: ./dms_env 3 | logdir: ./logs/dms_reacher/d3pg # change me 4 | environment: SuiteWrapper 5 | 6 | redis: 7 | port: 12111 8 | prefix: dms-reacher-d3pg 9 | 10 | env: 11 | domain_task: reacher-hard 12 | -------------------------------------------------------------------------------- /dms_reacher/d4pg.yml: -------------------------------------------------------------------------------- 1 | args: 2 | expdir: ./dms_env 3 | logdir: ./logs/dms_reacher/d4pg # change me 4 | environment: SuiteWrapper 5 | 6 | redis: 7 | port: 12112 8 | prefix: dms-reacher-d4pg 9 | 10 | env: 11 | domain_task: reacher-hard 12 | -------------------------------------------------------------------------------- /dms_walker/qd4pg.yml: -------------------------------------------------------------------------------- 1 | args: 2 | expdir: ./dms_env 3 | logdir: ./logs/dms_walker/qd4pg # change me 4 | environment: SuiteWrapper 5 | 6 | redis: 7 | port: 12112 8 | prefix: dms-walker-qd4pg 9 | 10 | env: 11 | domain_task: walker-run 12 | -------------------------------------------------------------------------------- /dms_humanoid/d4pg.yml: -------------------------------------------------------------------------------- 1 | args: 2 | expdir: ./dms_env 3 | logdir: ./logs/dms_humanoid/d4pg # change me 4 | environment: SuiteWrapper 5 | 6 | redis: 7 | port: 12112 8 | prefix: dms-humanoid-d4pg 9 | 10 | env: 11 | domain_task: humanoid-walk 12 | -------------------------------------------------------------------------------- /dms_humanoid/qd4pg.yml: -------------------------------------------------------------------------------- 1 | args: 2 | expdir: ./dms_env 3 | logdir: ./logs/dms_humanoid/qd4pg # change me 4 | environment: SuiteWrapper 5 | 6 | redis: 7 | port: 12113 8 | prefix: dms-humanoid-qd4pg 9 | 10 | env: 11 | domain_task: humanoid-walk 12 | -------------------------------------------------------------------------------- /dms_reacher/qd4pg.yml: -------------------------------------------------------------------------------- 1 | args: 2 | expdir: ./dms_env 3 | logdir: ./logs/dms_reacher/qd4pg # change me 4 | environment: SuiteWrapper 5 | 6 | redis: 7 | port: 12112 8 | prefix: dms-reacher-qd4pg 9 | 10 | env: 11 | domain_task: reacher-hard 12 | -------------------------------------------------------------------------------- /dms_humanoid/d3pg.yml: -------------------------------------------------------------------------------- 1 | args: 2 | expdir: ./dms_env 3 | logdir: ./logs/dms_humanoid/d3pg # change me 4 | environment: SuiteWrapper 5 | 6 | redis: 7 | port: 12111 8 | prefix: dms-humanoid-d3pg 9 | 10 | env: 11 | domain_task: humanoid-walk 12 | 13 | -------------------------------------------------------------------------------- /gym_bipedalwalker_simple/d3pg.yml: -------------------------------------------------------------------------------- 1 | args: 2 | logdir: ./logs/gym_bipedalwalker # change me 3 | environment: GymWrapper 4 | 5 | redis: 6 | port: 12000 7 | prefix: gym 8 | 9 | env: 10 | env_name: BipedalWalker-v2 11 | 12 | sampler: 13 | buffer_size: 2001 14 | -------------------------------------------------------------------------------- /gym_bipedalwalker_simple/qd4pg.yml: -------------------------------------------------------------------------------- 1 | args: 2 | logdir: ./logs/gym_bipedalwalker_hardcore # change me 3 | environment: GymWrapper 4 | 5 | redis: 6 | port: 12000 7 | prefix: gym 8 | 9 | env: 10 | env_name: BipedalWalker-v2 11 | 12 | sampler: 13 | buffer_size: 2001 14 | -------------------------------------------------------------------------------- /gym_bipedalwalker_hardcore/d3pg.yml: -------------------------------------------------------------------------------- 1 | args: 2 | logdir: ./logs/gym_bipedalwalker_hardcore # change me 3 | environment: GymWrapper 4 | 5 | redis: 6 | port: 12000 7 | prefix: gym 8 | 9 | env: 10 | env_name: BipedalWalkerHardcore-v2 11 | 12 | sampler: 13 | buffer_size: 2001 14 | -------------------------------------------------------------------------------- /gym_bipedalwalker_hardcore/qd4pg.yml: -------------------------------------------------------------------------------- 1 | args: 2 | logdir: ./logs/gym_bipedalwalker_hardcore # change me 3 | environment: GymWrapper 4 | 5 | redis: 6 | port: 12000 7 | prefix: gym 8 | 9 | env: 10 | env_name: BipedalWalkerHardcore-v2 11 | 12 | sampler: 13 | buffer_size: 2001 14 | -------------------------------------------------------------------------------- /gym_bipedalwalker_simple/d4pg.yml: -------------------------------------------------------------------------------- 1 | args: 2 | logdir: ./logs/gym_bipedalwalker_hardcore # change me 3 | environment: GymWrapper 4 | 5 | redis: 6 | port: 12000 7 | prefix: gym 8 | 9 | env: 10 | env_name: BipedalWalker-v2 11 | 12 | algorithm: 13 | critic_distribution: categorical 14 | values_range: [-50, 50] 15 | 16 | sampler: 17 | buffer_size: 2001 18 | -------------------------------------------------------------------------------- /gym_bipedalwalker_hardcore/d4pg.yml: -------------------------------------------------------------------------------- 1 | args: 2 | logdir: ./logs/gym_bipedalwalker_hardcore # change me 3 | environment: GymWrapper 4 | 5 | redis: 6 | port: 12000 7 | prefix: gym 8 | 9 | env: 10 | env_name: BipedalWalkerHardcore-v2 11 | 12 | algorithm: 13 | critic_distribution: categorical 14 | values_range: [-50, 50] 15 | 16 | sampler: 17 | buffer_size: 2001 -------------------------------------------------------------------------------- /_base/_agents1.yml: -------------------------------------------------------------------------------- 1 | actor: 2 | agent: Actor 3 | head_hiddens: [400, 300] 4 | layer_fn: Linear 5 | bias: false 6 | norm_fn: LayerNorm 7 | activation_fn: ReLU 8 | out_activation: Tanh 9 | 10 | critic: 11 | agent: Critic 12 | observation_hiddens: [400] 13 | action_hiddens: [] 14 | head_hiddens: [300, 1] 15 | layer_fn: Linear 16 | bias: false 17 | norm_fn: LayerNorm 18 | activation_fn: ReLU 19 | -------------------------------------------------------------------------------- /_base/_agents101.yml: -------------------------------------------------------------------------------- 1 | actor: 2 | agent: Actor 3 | head_hiddens: [400, 300] 4 | layer_fn: Linear 5 | bias: false 6 | norm_fn: LayerNorm 7 | activation_fn: ReLU 8 | out_activation: Tanh 9 | 10 | critic: 11 | agent: Critic 12 | observation_hiddens: [400] 13 | action_hiddens: [] 14 | head_hiddens: [300, 101] 15 | layer_fn: Linear 16 | bias: false 17 | norm_fn: LayerNorm 18 | activation_fn: ReLU 19 | -------------------------------------------------------------------------------- /_base/_agents1_sac.yml: -------------------------------------------------------------------------------- 1 | actor: 2 | agent: Actor 3 | head_hiddens: [400, 300] 4 | layer_fn: Linear 5 | bias: false 6 | norm_fn: LayerNorm 7 | activation_fn: ReLU 8 | out_activation: null 9 | policy_type: gauss 10 | 11 | critic: 12 | agent: Critic 13 | observation_hiddens: [400] 14 | action_hiddens: [] 15 | head_hiddens: [300, 1] 16 | layer_fn: Linear 17 | bias: false 18 | norm_fn: LayerNorm 19 | activation_fn: ReLU 20 | -------------------------------------------------------------------------------- /_base/_agents101_sac.yml: -------------------------------------------------------------------------------- 1 | actor: 2 | agent: Actor 3 | head_hiddens: [400, 300] 4 | layer_fn: Linear 5 | bias: false 6 | norm_fn: LayerNorm 7 | activation_fn: ReLU 8 | out_activation: null 9 | policy_type: gauss 10 | 11 | critic: 12 | agent: Critic 13 | observation_hiddens: [400] 14 | action_hiddens: [] 15 | head_hiddens: [300, 101] 16 | layer_fn: Linear 17 | bias: false 18 | norm_fn: LayerNorm 19 | activation_fn: ReLU 20 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | MIT License 2 | 3 | Copyright (c) 2019 Sergey Kolesnikov 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy 6 | of this software and associated documentation files (the "Software"), to deal 7 | in the Software without restriction, including without limitation the rights 8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 | copies of the Software, and to permit persons to whom the Software is 10 | furnished to do so, subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 21 | SOFTWARE. 22 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | # Byte-compiled / optimized / DLL files 2 | __pycache__/ 3 | *.py[cod] 4 | *$py.class 5 | 6 | # C extensions 7 | *.so 8 | 9 | # Distribution / packaging 10 | .Python 11 | env/ 12 | build/ 13 | develop-eggs/ 14 | dist/ 15 | downloads/ 16 | eggs/ 17 | .eggs/ 18 | lib/ 19 | lib64/ 20 | parts/ 21 | sdist/ 22 | var/ 23 | wheels/ 24 | *.egg-info/ 25 | .installed.cfg 26 | *.egg 27 | 28 | # PyInstaller 29 | # Usually these files are written by a python script from a template 30 | # before PyInstaller builds the exe, so as to inject date/other infos into it. 31 | *.manifest 32 | *.spec 33 | 34 | # Installer logs 35 | pip-log.txt 36 | pip-delete-this-directory.txt 37 | 38 | # Unit test / coverage reports 39 | htmlcov/ 40 | .tox/ 41 | .coverage 42 | .coverage.* 43 | .cache 44 | nosetests.xml 45 | coverage.xml 46 | *.cover 47 | .hypothesis/ 48 | 49 | # Translations 50 | *.mo 51 | *.pot 52 | 53 | # Django stuff: 54 | *.log 55 | local_settings.py 56 | 57 | # Flask stuff: 58 | instance/ 59 | .webassets-cache 60 | 61 | # Scrapy stuff: 62 | .scrapy 63 | 64 | # Sphinx documentation 65 | docs/_build/ 66 | 67 | # PyBuilder 68 | target/ 69 | 70 | # Jupyter Notebook 71 | .ipynb_checkpoints 72 | 73 | # pyenv 74 | .python-version 75 | 76 | # celery beat schedule file 77 | celerybeat-schedule 78 | 79 | # SageMath parsed files 80 | *.sage.py 81 | 82 | # dotenv 83 | .env 84 | 85 | # virtualenv 86 | .venv 87 | venv/ 88 | ENV/ 89 | 90 | # Spyder project settings 91 | .spyderproject 92 | .spyproject 93 | 94 | # Rope project settings 95 | .ropeproject 96 | 97 | # mkdocs documentation 98 | /site 99 | 100 | # mypy 101 | .mypy_cache/ 102 | 103 | 104 | 105 | .DS_Store 106 | .idea 107 | .code 108 | 109 | tmp/ 110 | logs/ 111 | 112 | *.ipynb 113 | *.csv 114 | *.tsv 115 | *.txt 116 | 117 | examples/data/ 118 | examples/logs/ 119 | -------------------------------------------------------------------------------- /_base/_all.yml: -------------------------------------------------------------------------------- 1 | shared: 2 | history_len: 4 3 | n_step: 5 4 | gamma: 0.99 5 | 6 | args: 7 | vis: 0 8 | infer: 4 9 | train: 20 10 | action_noise_prob: 0.6 11 | param_noise_prob: 0.2 12 | max_action_noise: 0.2 13 | max_param_noise: 0.1 14 | 15 | env: 16 | reward_scale: 1.0 17 | frame_skip: 1 18 | step_delay: 0.03 19 | 20 | algorithm: 21 | min_action: &min_action -1.0 22 | max_action: &max_action 1.0 23 | 24 | actor_tau: 1.0 25 | critic_tau: 1.0 26 | 27 | actor_optimizer_params: 28 | optimizer: Adam 29 | lr: 0.0001 30 | critic_optimizer_params: 31 | optimizer: Adam 32 | lr: 0.0001 33 | 34 | actor_grad_clip_params: 35 | func: clip_grad_value_ 36 | clip_value: 1.0 37 | 38 | trainer: 39 | batch_size: 512 # transitions 40 | 41 | n_workers: 2 42 | replay_buffer_size: 10000000 # transitions 43 | 44 | start_learning: 50000 # transitions 45 | epoch_len: 100 # batches 46 | target_update_period: 100 # batches 47 | save_period: 100 # epochs 48 | weights_sync_period: 1 # epochs 49 | 50 | sampler: 51 | weights_sync_period: 1 52 | 53 | buffer_size: 1100 54 | param_noise_steps: 1000 55 | 56 | action_noise_t: 1 57 | action_clip: [*min_action, *max_action] 58 | 59 | random_process: 60 | random_process: GaussianWhiteNoiseProcess 61 | 62 | seeds: [ 63 | 121958, 671155, 131932, 365838, 259178, 644167, 110268, 732180, 64 | 54886, 137337, 999890, 521430, 954698, 87498, 899159, 912756, 65 | 175203, 191335, 278167, 41090, 329365, 64820, 787201, 321879, 66 | 718315, 327069, 776997, 199041, 791743, 103355, 235796, 214176, 67 | 184779, 347449, 421909, 989436, 258795, 486232, 917040, 500186, 68 | 156730, 870910, 384681, 149503, 654811, 527035, 648143, 452366, 69 | 65725, 129981, 84654, 953277, 905778, 591723, 319030, 328947, 70 | 555839, 902648, 273538, 331236, 528178, 565894, 489492, 256840, 71 | 473254, 349457, 665987, 270936, 239931, 239629, 205041, 698361, 72 | 731912, 417113, 68148, 777089, 648531, 251995, 906606, 678843, 73 | 910790, 572843, 256508, 803591, 896942, 106530, 604365, 822352, 74 | 460337, 724839, 805889, 459773, 208261, 764469, 341097, 315139, 75 | 171829, 271836, 438974, 989913 76 | ] 77 | -------------------------------------------------------------------------------- /dms_env/suite_wrapper.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | import time 4 | import numpy as np 5 | from dm_control import suite 6 | from catalyst.contrib.registry import Registry 7 | 8 | 9 | @Registry.environment 10 | class SuiteWrapper: 11 | def __init__( 12 | self, 13 | domain=None, 14 | task=None, 15 | domain_task=None, 16 | visualize=False, 17 | frame_skip=1, 18 | reward_scale=1, 19 | step_delay=0.1 20 | ): 21 | if domain_task is not None: 22 | domain, task = domain_task.rsplit("-", 1) 23 | assert domain, task 24 | self.env = suite.load(domain_name=domain, task_name=task) 25 | 26 | self.visualize = visualize 27 | self.frame_skip = frame_skip 28 | self.reward_scale = reward_scale 29 | self.step_delay = step_delay 30 | 31 | self.observation_shape = self.get_spec_shape( 32 | self.env.observation_spec()) 33 | self.action_shape = self.get_spec_shape( 34 | self.env.action_spec()) 35 | 36 | self.time_step = 0 37 | self.total_reward = 0 38 | 39 | @staticmethod 40 | def get_spec_shape(spec): 41 | if isinstance(spec, dict): 42 | spec_values = spec.values() 43 | return ( 44 | sum( 45 | x.shape[0] if len(x.shape) > 0 else 1 46 | for x in spec_values), 47 | ) 48 | else: 49 | return spec.shape 50 | 51 | @staticmethod 52 | def _to_list_of_arrays(iterable): 53 | return [ 54 | np.array([x]) 55 | if not isinstance(x, np.ndarray) 56 | else x 57 | for x in iterable 58 | ] 59 | 60 | @staticmethod 61 | def get_observation(suite_step): 62 | return np.concatenate( 63 | SuiteWrapper._to_list_of_arrays(suite_step.observation.values()) 64 | ) 65 | 66 | def reset(self): 67 | self.time_step = 0 68 | self.total_reward = 0 69 | suite_step = self.env.reset() 70 | return self.get_observation(suite_step) 71 | 72 | def step(self, action): 73 | time.sleep(self.step_delay) 74 | reward = 0 75 | for i in range(self.frame_skip): 76 | suite_step = self.env.step(action) 77 | observation = self.get_observation(suite_step) 78 | r = suite_step.reward 79 | done = suite_step.step_type.last() 80 | if self.visualize: 81 | self.env.render() 82 | reward += r 83 | if done: 84 | break 85 | self.total_reward += reward 86 | self.time_step += 1 87 | info = {"reward_origin": reward} 88 | reward *= self.reward_scale 89 | return observation, reward, done, info 90 | -------------------------------------------------------------------------------- /bin/grid_run.sh: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env bash 2 | set -e 3 | 4 | #usage: 5 | # CUDA_VISIBLE_DEVICES=0 ./grid_run.sh \ 6 | # --redis-port 12001 \ 7 | # --config ..../config.yml \ 8 | # --logdir ..../logdir/log-prefix \ 9 | # --param-name "trainer/start_learning" \ 10 | # --param-values "10, 20, 30" \ 11 | # --param-type "int" \ 12 | # --wait-time 30 \ 13 | # --n-trials 3 14 | 15 | REDIS_PORT= 16 | CONFIG= 17 | LOGDIR= 18 | PARAM_NAME= 19 | PARAM_VALUES= 20 | PARAM_TYPE= 21 | WAIT_TIME= 22 | N_TRIALS= 23 | 24 | 25 | while (( "$#" )); do 26 | case "$1" in 27 | --redis-port) 28 | REDIS_PORT=$2 29 | shift 2 30 | ;; 31 | --config) 32 | CONFIG=$2 33 | shift 2 34 | ;; 35 | --logdir) 36 | LOGDIR=$2 37 | shift 2 38 | ;; 39 | --param-name) 40 | PARAM_NAME=$2 41 | shift 2 42 | ;; 43 | --param-values) 44 | PARAM_VALUES=$2 45 | shift 2 46 | ;; 47 | --param-type) 48 | PARAM_TYPE=$2 49 | shift 2 50 | ;; 51 | --wait-time) 52 | WAIT_TIME=$2 53 | shift 2 54 | ;; 55 | --n-trials) 56 | N_TRIALS=$2 57 | shift 2 58 | ;; 59 | *) # preserve positional arguments 60 | shift 61 | ;; 62 | esac 63 | done 64 | 65 | 66 | IFS=',' read -r -a PARAM_VALUES <<< "$PARAM_VALUES" 67 | 68 | for ((trial=0; trial