236 lines
7.8 KiB
Python
236 lines
7.8 KiB
Python
#!/usr/bin/env python3
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import argparse
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import datetime
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import os
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import pprint
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import gym
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import numpy as np
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import torch
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from torch.utils.tensorboard import SummaryWriter
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from examples.offline.utils import load_buffer_d4rl
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from tianshou.data import Collector
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from tianshou.env import SubprocVectorEnv
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from tianshou.policy import CQLPolicy
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from tianshou.trainer import offline_trainer
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from tianshou.utils import TensorboardLogger, WandbLogger
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from tianshou.utils.net.common import Net
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from tianshou.utils.net.continuous import ActorProb, Critic
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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="HalfCheetah-v2")
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parser.add_argument("--seed", type=int, default=0)
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parser.add_argument(
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"--expert-data-task", type=str, default="halfcheetah-expert-v2"
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)
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parser.add_argument("--buffer-size", type=int, default=1000000)
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parser.add_argument("--hidden-sizes", type=int, nargs="*", default=[256, 256])
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parser.add_argument("--actor-lr", type=float, default=1e-4)
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parser.add_argument("--critic-lr", type=float, default=3e-4)
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parser.add_argument("--alpha", type=float, default=0.2)
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parser.add_argument("--auto-alpha", default=True, action="store_true")
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parser.add_argument("--alpha-lr", type=float, default=1e-4)
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parser.add_argument("--cql-alpha-lr", type=float, default=3e-4)
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parser.add_argument("--start-timesteps", type=int, default=10000)
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parser.add_argument("--epoch", type=int, default=200)
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parser.add_argument("--step-per-epoch", type=int, default=5000)
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parser.add_argument("--n-step", type=int, default=3)
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parser.add_argument("--batch-size", type=int, default=256)
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parser.add_argument("--tau", type=float, default=0.005)
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parser.add_argument("--temperature", type=float, default=1.0)
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parser.add_argument("--cql-weight", type=float, default=1.0)
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parser.add_argument("--with-lagrange", type=bool, default=True)
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parser.add_argument("--lagrange-threshold", type=float, default=10.0)
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parser.add_argument("--gamma", type=float, default=0.99)
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parser.add_argument("--eval-freq", type=int, default=1)
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parser.add_argument("--test-num", type=int, default=10)
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parser.add_argument("--logdir", type=str, default="log")
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parser.add_argument("--render", type=float, default=1 / 35)
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parser.add_argument(
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"--device", type=str, default="cuda" if torch.cuda.is_available() else "cpu"
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)
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parser.add_argument("--resume-path", type=str, default=None)
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parser.add_argument("--resume-id", type=str, default=None)
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parser.add_argument(
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"--logger",
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type=str,
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default="tensorboard",
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choices=["tensorboard", "wandb"],
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)
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parser.add_argument("--wandb-project", type=str, default="offline_d4rl.benchmark")
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parser.add_argument(
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"--watch",
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default=False,
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action="store_true",
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help="watch the play of pre-trained policy only",
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)
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return parser.parse_args()
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def test_cql():
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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] # float
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print("device:", args.device)
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print("Observations shape:", args.state_shape)
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print("Actions shape:", args.action_shape)
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print("Action range:", np.min(env.action_space.low), np.max(env.action_space.high))
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args.state_dim = args.state_shape[0]
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args.action_dim = args.action_shape[0]
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print("Max_action", args.max_action)
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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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)
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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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test_envs.seed(args.seed)
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# model
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# actor network
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net_a = Net(
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args.state_shape,
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args.action_shape,
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hidden_sizes=args.hidden_sizes,
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device=args.device,
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)
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actor = ActorProb(
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net_a,
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action_shape=args.action_shape,
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max_action=args.max_action,
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device=args.device,
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unbounded=True,
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conditioned_sigma=True
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).to(args.device)
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actor_optim = torch.optim.Adam(actor.parameters(), lr=args.actor_lr)
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# critic network
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net_c1 = Net(
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args.state_shape,
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args.action_shape,
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hidden_sizes=args.hidden_sizes,
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concat=True,
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device=args.device,
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)
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net_c2 = Net(
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args.state_shape,
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args.action_shape,
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hidden_sizes=args.hidden_sizes,
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concat=True,
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device=args.device,
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)
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critic1 = Critic(net_c1, device=args.device).to(args.device)
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critic1_optim = torch.optim.Adam(critic1.parameters(), lr=args.critic_lr)
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critic2 = Critic(net_c2, device=args.device).to(args.device)
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critic2_optim = torch.optim.Adam(critic2.parameters(), lr=args.critic_lr)
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if args.auto_alpha:
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target_entropy = -np.prod(env.action_space.shape)
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log_alpha = torch.zeros(1, requires_grad=True, device=args.device)
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alpha_optim = torch.optim.Adam([log_alpha], lr=args.alpha_lr)
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args.alpha = (target_entropy, log_alpha, alpha_optim)
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policy = CQLPolicy(
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actor,
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actor_optim,
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critic1,
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critic1_optim,
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critic2,
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critic2_optim,
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cql_alpha_lr=args.cql_alpha_lr,
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cql_weight=args.cql_weight,
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tau=args.tau,
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gamma=args.gamma,
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alpha=args.alpha,
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temperature=args.temperature,
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with_lagrange=args.with_lagrange,
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lagrange_threshold=args.lagrange_threshold,
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min_action=np.min(env.action_space.low),
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max_action=np.max(env.action_space.high),
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device=args.device,
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)
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# load a previous policy
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if args.resume_path:
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policy.load_state_dict(torch.load(args.resume_path, map_location=args.device))
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print("Loaded agent from: ", args.resume_path)
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# collector
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test_collector = Collector(policy, test_envs)
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# log
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now = datetime.datetime.now().strftime("%y%m%d-%H%M%S")
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args.algo_name = "cql"
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log_name = os.path.join(args.task, args.algo_name, str(args.seed), now)
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log_path = os.path.join(args.logdir, log_name)
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# logger
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if args.logger == "wandb":
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logger = WandbLogger(
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save_interval=1,
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name=log_name.replace(os.path.sep, "__"),
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run_id=args.resume_id,
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config=args,
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project=args.wandb_project,
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)
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writer = SummaryWriter(log_path)
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writer.add_text("args", str(args))
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if args.logger == "tensorboard":
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logger = TensorboardLogger(writer)
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else: # wandb
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logger.load(writer)
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def save_best_fn(policy):
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torch.save(policy.state_dict(), os.path.join(log_path, "policy.pth"))
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def watch():
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if args.resume_path is None:
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args.resume_path = os.path.join(log_path, "policy.pth")
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policy.load_state_dict(
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torch.load(args.resume_path, map_location=torch.device("cpu"))
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)
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policy.eval()
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collector = Collector(policy, env)
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collector.collect(n_episode=1, render=1 / 35)
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if not args.watch:
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replay_buffer = load_buffer_d4rl(args.expert_data_task)
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# trainer
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result = offline_trainer(
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policy,
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replay_buffer,
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test_collector,
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args.epoch,
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args.step_per_epoch,
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args.test_num,
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args.batch_size,
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save_best_fn=save_best_fn,
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logger=logger,
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)
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pprint.pprint(result)
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else:
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watch()
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# Let's watch its performance!
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policy.eval()
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test_envs.seed(args.seed)
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test_collector.reset()
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result = test_collector.collect(n_episode=args.test_num, render=args.render)
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print(f"Final reward: {result['rews'].mean()}, length: {result['lens'].mean()}")
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if __name__ == "__main__":
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test_cql()
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