207 lines
8.2 KiB
Python
207 lines
8.2 KiB
Python
import gym
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import time
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import tqdm
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import torch
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import argparse
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import numpy as np
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from torch import nn
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from torch.utils.tensorboard import SummaryWriter
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from tianshou.policy import DDPGPolicy
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from tianshou.env import SubprocVectorEnv
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from tianshou.utils import tqdm_config, MovAvg
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from tianshou.data import Collector, ReplayBuffer
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class Actor(nn.Module):
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def __init__(self, layer_num, state_shape, action_shape,
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max_action, device='cpu'):
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super().__init__()
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self.device = device
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self.model = [
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nn.Linear(np.prod(state_shape), 128),
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nn.ReLU(inplace=True)]
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for i in range(layer_num):
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self.model += [nn.Linear(128, 128), nn.ReLU(inplace=True)]
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self.model += [nn.Linear(128, np.prod(action_shape))]
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self.model = nn.Sequential(*self.model)
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self._max = max_action
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def forward(self, s, **kwargs):
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s = torch.tensor(s, device=self.device, dtype=torch.float)
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batch = s.shape[0]
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s = s.view(batch, -1)
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logits = self.model(s)
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logits = self._max * torch.tanh(logits)
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return logits, None
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class Critic(nn.Module):
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def __init__(self, layer_num, state_shape, action_shape, device='cpu'):
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super().__init__()
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self.device = device
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self.model = [
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nn.Linear(np.prod(state_shape) + np.prod(action_shape), 128),
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nn.ReLU(inplace=True)]
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for i in range(layer_num):
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self.model += [nn.Linear(128, 128), nn.ReLU(inplace=True)]
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self.model += [nn.Linear(128, 1)]
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self.model = nn.Sequential(*self.model)
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def forward(self, s, a):
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s = torch.tensor(s, device=self.device, dtype=torch.float)
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if isinstance(a, np.ndarray):
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a = torch.tensor(a, device=self.device, dtype=torch.float)
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batch = s.shape[0]
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s = s.view(batch, -1)
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a = a.view(batch, -1)
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logits = self.model(torch.cat([s, a], dim=1))
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return logits
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def get_args():
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parser = argparse.ArgumentParser()
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parser.add_argument('--task', type=str, default='Pendulum-v0')
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parser.add_argument('--seed', type=int, default=1626)
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parser.add_argument('--buffer-size', type=int, default=20000)
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parser.add_argument('--actor-lr', type=float, default=1e-4)
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parser.add_argument('--actor-wd', type=float, default=0)
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parser.add_argument('--critic-lr', type=float, default=1e-3)
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parser.add_argument('--critic-wd', type=float, default=1e-2)
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parser.add_argument('--gamma', type=float, default=0.99)
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parser.add_argument('--tau', type=float, default=0.005)
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parser.add_argument('--exploration-noise', type=float, default=0.1)
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parser.add_argument('--epoch', type=int, default=100)
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parser.add_argument('--step-per-epoch', type=int, default=2400)
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parser.add_argument('--collect-per-step', type=int, default=1)
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parser.add_argument('--batch-size', type=int, default=128)
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parser.add_argument('--layer-num', type=int, default=1)
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parser.add_argument('--training-num', type=int, default=1)
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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(
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'--device', type=str,
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default='cuda' if torch.cuda.is_available() else 'cpu')
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args = parser.parse_known_args()[0]
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return args
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def test_ddpg(args=get_args()):
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env = gym.make(args.task)
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args.state_shape = env.observation_space.shape or env.observation_space.n
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args.action_shape = env.action_space.shape or env.action_space.n
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args.max_action = env.action_space.high[0]
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# train_envs = gym.make(args.task)
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train_envs = SubprocVectorEnv(
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[lambda: gym.make(args.task) for _ in range(args.training_num)],
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reset_after_done=True)
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# test_envs = gym.make(args.task)
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test_envs = SubprocVectorEnv(
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[lambda: gym.make(args.task) for _ in range(args.test_num)],
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reset_after_done=False)
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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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actor = Actor(
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args.layer_num, args.state_shape, args.action_shape,
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args.max_action, args.device
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).to(args.device)
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actor_optim = torch.optim.Adam(
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actor.parameters(), lr=args.actor_lr, weight_decay=args.actor_wd)
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critic = Critic(
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args.layer_num, args.state_shape, args.action_shape, args.device
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).to(args.device)
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critic_optim = torch.optim.Adam(
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critic.parameters(), lr=args.critic_lr, weight_decay=args.critic_wd)
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policy = DDPGPolicy(
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actor, actor_optim, critic, critic_optim,
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[env.action_space.low[0], env.action_space.high[0]],
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args.tau, args.gamma, args.exploration_noise)
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# collector
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training_collector = Collector(
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policy, train_envs, ReplayBuffer(args.buffer_size), 1)
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test_collector = Collector(policy, test_envs, stat_size=args.test_num)
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# log
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stat_a_loss = MovAvg()
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stat_c_loss = MovAvg()
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global_step = 0
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writer = SummaryWriter(args.logdir)
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best_epoch = -1
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best_reward = -1e10
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start_time = time.time()
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# training_collector.collect(n_step=1000)
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for epoch in range(1, 1 + args.epoch):
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desc = f'Epoch #{epoch}'
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# train
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policy.train()
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with tqdm.tqdm(
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total=args.step_per_epoch, desc=desc, **tqdm_config) as t:
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while t.n < t.total:
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result = training_collector.collect(
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n_step=args.collect_per_step)
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for i in range(min(
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result['n_step'] // args.collect_per_step,
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t.total - t.n)):
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t.update(1)
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global_step += 1
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actor_loss, critic_loss = policy.learn(
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training_collector.sample(args.batch_size))
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policy.sync_weight()
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stat_a_loss.add(actor_loss)
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stat_c_loss.add(critic_loss)
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writer.add_scalar(
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'reward', result['reward'], global_step=global_step)
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writer.add_scalar(
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'length', result['length'], global_step=global_step)
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writer.add_scalar(
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'actor_loss', stat_a_loss.get(),
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global_step=global_step)
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writer.add_scalar(
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'critic_loss', stat_a_loss.get(),
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global_step=global_step)
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writer.add_scalar(
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'speed', result['speed'], global_step=global_step)
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t.set_postfix(actor_loss=f'{stat_a_loss.get():.6f}',
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critic_loss=f'{stat_c_loss.get():.6f}',
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reward=f'{result["reward"]:.6f}',
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length=f'{result["length"]:.2f}',
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speed=f'{result["speed"]:.2f}')
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if t.n <= t.total:
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t.update()
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# eval
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test_collector.reset_env()
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test_collector.reset_buffer()
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policy.eval()
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result = test_collector.collect(n_episode=args.test_num)
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if best_reward < result['reward']:
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best_reward = result['reward']
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best_epoch = epoch
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print(f'Epoch #{epoch}: test_reward: {result["reward"]:.6f}, '
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f'best_reward: {best_reward:.6f} in #{best_epoch}')
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if args.task == 'Pendulum-v0' and best_reward >= -250:
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break
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if args.task == 'Pendulum-v0':
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assert best_reward >= -250
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training_collector.close()
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test_collector.close()
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if __name__ == '__main__':
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train_cnt = training_collector.collect_step
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test_cnt = test_collector.collect_step
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duration = time.time() - start_time
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print(f'Collect {train_cnt} training frame and {test_cnt} test frame '
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f'in {duration:.2f}s, '
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f'speed: {(train_cnt + test_cnt) / duration:.2f}it/s')
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# Let's watch its performance!
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env = gym.make(args.task)
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test_collector = Collector(policy, env)
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result = test_collector.collect(n_episode=1, render=1 / 35)
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print(f'Final reward: {result["reward"]}, length: {result["length"]}')
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test_collector.close()
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if __name__ == '__main__':
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test_ddpg()
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