140 lines
5.0 KiB
Python
140 lines
5.0 KiB
Python
import argparse
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import os
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import pprint
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import gymnasium as gym
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import numpy as np
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import torch
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from gymnasium.spaces import Box
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from torch.utils.tensorboard import SummaryWriter
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from tianshou.data import Collector, VectorReplayBuffer
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from tianshou.env import DummyVectorEnv
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from tianshou.policy import PGPolicy
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from tianshou.policy.base import BasePolicy
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from tianshou.trainer import OnpolicyTrainer
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from tianshou.utils import TensorboardLogger
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from tianshou.utils.net.common import Net
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from tianshou.utils.space_info import SpaceInfo
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def get_args() -> argparse.Namespace:
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parser = argparse.ArgumentParser()
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parser.add_argument("--task", type=str, default="CartPole-v1")
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parser.add_argument("--reward-threshold", type=float, default=None)
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parser.add_argument("--seed", type=int, default=1)
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parser.add_argument("--buffer-size", type=int, default=20000)
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parser.add_argument("--lr", type=float, default=1e-3)
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parser.add_argument("--gamma", type=float, default=0.95)
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parser.add_argument("--epoch", type=int, default=10)
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parser.add_argument("--step-per-epoch", type=int, default=40000)
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parser.add_argument("--episode-per-collect", type=int, default=8)
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parser.add_argument("--repeat-per-collect", type=int, default=2)
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parser.add_argument("--batch-size", type=int, default=64)
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parser.add_argument("--hidden-sizes", type=int, nargs="*", default=[64, 64])
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parser.add_argument("--training-num", type=int, default=8)
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parser.add_argument("--test-num", type=int, default=100)
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parser.add_argument("--logdir", type=str, default="log")
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parser.add_argument("--render", type=float, default=0.0)
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parser.add_argument("--rew-norm", type=int, default=1)
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parser.add_argument(
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"--device",
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type=str,
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default="cuda" if torch.cuda.is_available() else "cpu",
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)
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return parser.parse_known_args()[0]
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def test_pg(args: argparse.Namespace = get_args()) -> None:
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env = gym.make(args.task)
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space_info = SpaceInfo.from_env(env)
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args.state_shape = space_info.observation_info.obs_shape
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args.action_shape = space_info.action_info.action_shape
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if args.reward_threshold is None:
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default_reward_threshold = {"CartPole-v1": 195}
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args.reward_threshold = default_reward_threshold.get(
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args.task,
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env.spec.reward_threshold if env.spec else None,
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)
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# train_envs = gym.make(args.task)
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# you can also use tianshou.env.SubprocVectorEnv
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train_envs = DummyVectorEnv([lambda: gym.make(args.task) for _ in range(args.training_num)])
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# test_envs = gym.make(args.task)
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test_envs = DummyVectorEnv([lambda: gym.make(args.task) for _ in range(args.test_num)])
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# seed
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np.random.seed(args.seed)
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torch.manual_seed(args.seed)
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train_envs.seed(args.seed)
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test_envs.seed(args.seed)
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# model
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net = Net(
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state_shape=args.state_shape,
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action_shape=args.action_shape,
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hidden_sizes=args.hidden_sizes,
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device=args.device,
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softmax=True,
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).to(args.device)
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optim = torch.optim.Adam(net.parameters(), lr=args.lr)
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dist_fn = torch.distributions.Categorical
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policy: PGPolicy = PGPolicy(
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actor=net,
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optim=optim,
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dist_fn=dist_fn,
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discount_factor=args.gamma,
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action_space=env.action_space,
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action_scaling=isinstance(env.action_space, Box),
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reward_normalization=args.rew_norm,
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)
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for m in net.modules():
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if isinstance(m, torch.nn.Linear):
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# orthogonal initialization
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torch.nn.init.orthogonal_(m.weight, gain=np.sqrt(2))
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torch.nn.init.zeros_(m.bias)
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# collector
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train_collector = Collector(
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policy,
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train_envs,
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VectorReplayBuffer(args.buffer_size, len(train_envs)),
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)
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test_collector = Collector(policy, test_envs)
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# log
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log_path = os.path.join(args.logdir, args.task, "pg")
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writer = SummaryWriter(log_path)
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logger = TensorboardLogger(writer)
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def save_best_fn(policy: BasePolicy) -> None:
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torch.save(policy.state_dict(), os.path.join(log_path, "policy.pth"))
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def stop_fn(mean_rewards: float) -> bool:
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return mean_rewards >= args.reward_threshold
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# trainer
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result = OnpolicyTrainer(
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policy=policy,
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train_collector=train_collector,
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test_collector=test_collector,
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max_epoch=args.epoch,
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step_per_epoch=args.step_per_epoch,
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repeat_per_collect=args.repeat_per_collect,
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episode_per_test=args.test_num,
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batch_size=args.batch_size,
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episode_per_collect=args.episode_per_collect,
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stop_fn=stop_fn,
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save_best_fn=save_best_fn,
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logger=logger,
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).run()
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assert stop_fn(result.best_reward)
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if __name__ == "__main__":
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pprint.pprint(result)
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# Let's watch its performance!
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env = gym.make(args.task)
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collector = Collector(policy, env)
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collector.reset()
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collector_stats = collector.collect(n_episode=1, render=args.render, is_eval=True)
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print(collector_stats)
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if __name__ == "__main__":
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test_pg()
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