Tianshou/examples/atari/atari_qrdqn.py

import os
import torch
import pprint
import argparse
import numpy as np
from torch.utils.tensorboard import SummaryWriter

from tianshou.policy import QRDQNPolicy
from tianshou.env import SubprocVectorEnv
from tianshou.trainer import offpolicy_trainer
from tianshou.data import Collector, ReplayBuffer

from atari_network import QRDQN
from atari_wrapper import wrap_deepmind


def get_args():
    parser = argparse.ArgumentParser()
    parser.add_argument('--task', type=str, default='PongNoFrameskip-v4')
    parser.add_argument('--seed', type=int, default=0)
    parser.add_argument('--eps-test', type=float, default=0.005)
    parser.add_argument('--eps-train', type=float, default=1.)
    parser.add_argument('--eps-train-final', type=float, default=0.05)
    parser.add_argument('--buffer-size', type=int, default=100000)
    parser.add_argument('--lr', type=float, default=0.0001)
    parser.add_argument('--gamma', type=float, default=0.99)
    parser.add_argument('--num-quantiles', type=int, default=200)
    parser.add_argument('--n-step', type=int, default=3)
    parser.add_argument('--target-update-freq', type=int, default=500)
    parser.add_argument('--epoch', type=int, default=100)
    parser.add_argument('--step-per-epoch', type=int, default=10000)
    parser.add_argument('--collect-per-step', type=int, default=10)
    parser.add_argument('--batch-size', type=int, default=32)
    parser.add_argument('--training-num', type=int, default=16)
    parser.add_argument('--test-num', type=int, default=10)
    parser.add_argument('--logdir', type=str, default='log')
    parser.add_argument('--render', type=float, default=0.)
    parser.add_argument(
        '--device', type=str,
        default='cuda' if torch.cuda.is_available() else 'cpu')
    parser.add_argument('--frames-stack', type=int, default=4)
    parser.add_argument('--resume-path', type=str, default=None)
    parser.add_argument('--watch', default=False, action='store_true',
                        help='watch the play of pre-trained policy only')
    return parser.parse_args()


def make_atari_env(args):
    return wrap_deepmind(args.task, frame_stack=args.frames_stack)


def make_atari_env_watch(args):
    return wrap_deepmind(args.task, frame_stack=args.frames_stack,
                         episode_life=False, clip_rewards=False)


def test_qrdqn(args=get_args()):
    env = make_atari_env(args)
    args.state_shape = env.observation_space.shape or env.observation_space.n
    args.action_shape = env.env.action_space.shape or env.env.action_space.n
    # should be N_FRAMES x H x W
    print("Observations shape:", args.state_shape)
    print("Actions shape:", args.action_shape)
    # make environments
    train_envs = SubprocVectorEnv([lambda: make_atari_env(args)
                                   for _ in range(args.training_num)])
    test_envs = SubprocVectorEnv([lambda: make_atari_env_watch(args)
                                  for _ in range(args.test_num)])
    # seed
    np.random.seed(args.seed)
    torch.manual_seed(args.seed)
    train_envs.seed(args.seed)
    test_envs.seed(args.seed)
    # define model
    net = QRDQN(*args.state_shape, args.action_shape,
                args.num_quantiles, args.device)
    optim = torch.optim.Adam(net.parameters(), lr=args.lr)
    # define policy
    policy = QRDQNPolicy(
        net, optim, args.gamma, args.num_quantiles,
        args.n_step, target_update_freq=args.target_update_freq
    ).to(args.device)
    # load a previous policy
    if args.resume_path:
        policy.load_state_dict(torch.load(
            args.resume_path, map_location=args.device
        ))
        print("Loaded agent from: ", args.resume_path)
    # replay buffer: `save_last_obs` and `stack_num` can be removed together
    # when you have enough RAM
    buffer = ReplayBuffer(args.buffer_size, ignore_obs_next=True,
                          save_only_last_obs=True, stack_num=args.frames_stack)
    # collector
    train_collector = Collector(policy, train_envs, buffer)
    test_collector = Collector(policy, test_envs)
    # log
    log_path = os.path.join(args.logdir, args.task, 'qrdqn')
    writer = SummaryWriter(log_path)

    def save_fn(policy):
        torch.save(policy.state_dict(), os.path.join(log_path, 'policy.pth'))

    def stop_fn(mean_rewards):
        if env.env.spec.reward_threshold:
            return mean_rewards >= env.spec.reward_threshold
        elif 'Pong' in args.task:
            return mean_rewards >= 20
        else:
            return False

    def train_fn(epoch, env_step):
        # nature DQN setting, linear decay in the first 1M steps
        if env_step <= 1e6:
            eps = args.eps_train - env_step / 1e6 * \
                (args.eps_train - args.eps_train_final)
        else:
            eps = args.eps_train_final
        policy.set_eps(eps)
        writer.add_scalar('train/eps', eps, global_step=env_step)

    def test_fn(epoch, env_step):
        policy.set_eps(args.eps_test)

    # watch agent's performance
    def watch():
        print("Testing agent ...")
        policy.eval()
        policy.set_eps(args.eps_test)
        test_envs.seed(args.seed)
        test_collector.reset()
        result = test_collector.collect(n_episode=[1] * args.test_num,
                                        render=args.render)
        pprint.pprint(result)

    if args.watch:
        watch()
        exit(0)

    # test train_collector and start filling replay buffer
    train_collector.collect(n_step=args.batch_size * 4)
    # trainer
    result = offpolicy_trainer(
        policy, train_collector, test_collector, args.epoch,
        args.step_per_epoch, args.collect_per_step, args.test_num,
        args.batch_size, train_fn=train_fn, test_fn=test_fn,
        stop_fn=stop_fn, save_fn=save_fn, writer=writer, test_in_train=False)

    pprint.pprint(result)
    watch()


if __name__ == '__main__':
    test_qrdqn(get_args())