162 lines
6.2 KiB
Python
162 lines
6.2 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 DQNPolicy
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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 Net(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), 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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def forward(self, s, **kwargs):
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if not isinstance(s, torch.Tensor):
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s = torch.Tensor(s)
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s = s.to(self.device)
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batch = s.shape[0]
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q = self.model(s.view(batch, -1))
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return q, None
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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='CartPole-v0')
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parser.add_argument('--seed', type=int, default=1626)
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parser.add_argument('--eps-test', type=float, default=0.05)
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parser.add_argument('--eps-train', type=float, default=0.1)
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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=0.9)
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parser.add_argument('--n-step', type=int, default=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=320)
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parser.add_argument('--collect-per-step', type=int, default=10)
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parser.add_argument('--batch-size', type=int, default=64)
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parser.add_argument('--layer-num', type=int, default=3)
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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=20)
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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_dqn(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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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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net = Net(args.layer_num, args.state_shape, args.action_shape, args.device)
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net = net.to(args.device)
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optim = torch.optim.Adam(net.parameters(), lr=args.lr)
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loss = nn.MSELoss()
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policy = DQNPolicy(net, optim, loss, args.gamma, args.n_step)
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# collector
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training_collector = Collector(
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policy, train_envs, ReplayBuffer(args.buffer_size))
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test_collector = Collector(
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policy, test_envs, ReplayBuffer(args.buffer_size), args.test_num)
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training_collector.collect(n_step=args.batch_size)
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# log
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stat_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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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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policy.sync_weight()
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policy.set_eps(args.eps_train)
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with tqdm.trange(
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0, args.step_per_epoch, desc=desc, **tqdm_config) as t:
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for _ in t:
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result = training_collector.collect(
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n_step=args.collect_per_step)
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global_step += 1
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loss = policy.learn(training_collector.sample(args.batch_size))
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stat_loss.add(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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'loss', stat_loss.get(), 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(loss=f'{stat_loss.get():.6f}',
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reward=f'{result["reward"]:.6f}',
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length=f'{result["length"]:.6f}',
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speed=f'{result["speed"]:.2f}')
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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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policy.set_eps(args.eps_test)
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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 == 'CartPole-v0' and best_reward >= 200:
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break
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assert best_reward >= 200
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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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obs = env.reset()
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done = False
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total = 0
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while not done:
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q, _ = net([obs])
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action = q.max(dim=1)[1]
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obs, rew, done, info = env.step(action[0].detach().cpu().numpy())
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total += rew
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env.render()
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time.sleep(1 / 35)
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env.close()
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print(f'Final test: {total}')
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if __name__ == '__main__':
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test_dqn(get_args())
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