83 lines
2.4 KiB
Python
83 lines
2.4 KiB
Python
#!/usr/bin/env python3
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import os
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from collections.abc import Sequence
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from examples.mujoco.mujoco_env import MujocoEnvFactory
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from tianshou.highlevel.config import SamplingConfig
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from tianshou.highlevel.experiment import (
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ExperimentConfig,
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SACExperimentBuilder,
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)
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from tianshou.highlevel.params.alpha import AutoAlphaFactoryDefault
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from tianshou.highlevel.params.policy_params import SACParams
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from tianshou.utils import logging
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from tianshou.utils.logging import datetime_tag
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def main(
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experiment_config: ExperimentConfig,
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task: str = "Ant-v3",
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buffer_size: int = 1000000,
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hidden_sizes: Sequence[int] = (256, 256),
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actor_lr: float = 1e-3,
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critic_lr: float = 1e-3,
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gamma: float = 0.99,
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tau: float = 0.005,
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alpha: float = 0.2,
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auto_alpha: bool = False,
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alpha_lr: float = 3e-4,
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start_timesteps: int = 10000,
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epoch: int = 200,
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step_per_epoch: int = 5000,
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step_per_collect: int = 1,
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update_per_step: int = 1,
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n_step: int = 1,
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batch_size: int = 256,
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training_num: int = 1,
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test_num: int = 10,
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):
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log_name = os.path.join(task, "sac", str(experiment_config.seed), datetime_tag())
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sampling_config = SamplingConfig(
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num_epochs=epoch,
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step_per_epoch=step_per_epoch,
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num_train_envs=training_num,
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num_test_envs=test_num,
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buffer_size=buffer_size,
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batch_size=batch_size,
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step_per_collect=step_per_collect,
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update_per_step=update_per_step,
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start_timesteps=start_timesteps,
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start_timesteps_random=True,
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)
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env_factory = MujocoEnvFactory(task, experiment_config.seed, obs_norm=False)
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experiment = (
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SACExperimentBuilder(env_factory, experiment_config, sampling_config)
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.with_sac_params(
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SACParams(
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tau=tau,
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gamma=gamma,
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alpha=AutoAlphaFactoryDefault(lr=alpha_lr) if auto_alpha else alpha,
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estimation_step=n_step,
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actor_lr=actor_lr,
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critic1_lr=critic_lr,
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critic2_lr=critic_lr,
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),
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)
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.with_actor_factory_default(
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hidden_sizes,
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continuous_unbounded=True,
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continuous_conditioned_sigma=True,
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)
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.with_common_critic_factory_default(hidden_sizes)
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.build()
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)
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experiment.run(log_name)
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if __name__ == "__main__":
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logging.run_cli(main)
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