fc251ab0b8
* add makefile * bump version * add isort and yapf * update contributing.md * update PR template * spelling check
182 lines
6.3 KiB
Python
182 lines
6.3 KiB
Python
import argparse
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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 tianshou.data import Collector, PrioritizedVectorReplayBuffer, VectorReplayBuffer
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from tianshou.env import DummyVectorEnv
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from tianshou.policy import FQFPolicy
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from tianshou.trainer import offpolicy_trainer
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from tianshou.utils import TensorboardLogger
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from tianshou.utils.net.common import Net
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from tianshou.utils.net.discrete import FractionProposalNetwork, FullQuantileFunction
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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=0)
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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=3e-3)
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parser.add_argument('--fraction-lr', type=float, default=2.5e-9)
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parser.add_argument('--gamma', type=float, default=0.9)
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parser.add_argument('--num-fractions', type=int, default=32)
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parser.add_argument('--num-cosines', type=int, default=64)
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parser.add_argument('--ent-coef', type=float, default=10.)
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parser.add_argument('--n-step', type=int, default=3)
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parser.add_argument('--target-update-freq', type=int, default=320)
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parser.add_argument('--epoch', type=int, default=10)
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parser.add_argument('--step-per-epoch', type=int, default=10000)
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parser.add_argument('--step-per-collect', type=int, default=10)
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parser.add_argument('--update-per-step', type=float, default=0.1)
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parser.add_argument('--batch-size', type=int, default=64)
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parser.add_argument('--hidden-sizes', type=int, nargs='*', default=[64, 64, 64])
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parser.add_argument('--training-num', type=int, default=10)
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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('--render', type=float, default=0.)
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parser.add_argument('--prioritized-replay', action="store_true", default=False)
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parser.add_argument('--alpha', type=float, default=0.6)
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parser.add_argument('--beta', type=float, default=0.4)
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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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args = parser.parse_known_args()[0]
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return args
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def test_fqf(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 = gym.make(args.task)
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# you can also use tianshou.env.SubprocVectorEnv
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train_envs = DummyVectorEnv(
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[lambda: gym.make(args.task) for _ in range(args.training_num)]
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)
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# test_envs = gym.make(args.task)
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test_envs = DummyVectorEnv(
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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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train_envs.seed(args.seed)
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test_envs.seed(args.seed)
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# model
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feature_net = Net(
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args.state_shape,
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args.hidden_sizes[-1],
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hidden_sizes=args.hidden_sizes[:-1],
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device=args.device,
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softmax=False
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)
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net = FullQuantileFunction(
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feature_net,
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args.action_shape,
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args.hidden_sizes,
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num_cosines=args.num_cosines,
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device=args.device
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)
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optim = torch.optim.Adam(net.parameters(), lr=args.lr)
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fraction_net = FractionProposalNetwork(args.num_fractions, net.input_dim)
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fraction_optim = torch.optim.RMSprop(
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fraction_net.parameters(), lr=args.fraction_lr
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)
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policy = FQFPolicy(
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net,
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optim,
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fraction_net,
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fraction_optim,
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args.gamma,
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args.num_fractions,
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args.ent_coef,
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args.n_step,
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target_update_freq=args.target_update_freq
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).to(args.device)
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# buffer
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if args.prioritized_replay:
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buf = PrioritizedVectorReplayBuffer(
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args.buffer_size,
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buffer_num=len(train_envs),
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alpha=args.alpha,
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beta=args.beta
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)
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else:
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buf = VectorReplayBuffer(args.buffer_size, buffer_num=len(train_envs))
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# collector
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train_collector = Collector(policy, train_envs, buf, exploration_noise=True)
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test_collector = Collector(policy, test_envs, exploration_noise=True)
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# policy.set_eps(1)
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train_collector.collect(n_step=args.batch_size * args.training_num)
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# log
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log_path = os.path.join(args.logdir, args.task, 'fqf')
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writer = SummaryWriter(log_path)
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logger = TensorboardLogger(writer)
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def save_fn(policy):
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torch.save(policy.state_dict(), os.path.join(log_path, 'policy.pth'))
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def stop_fn(mean_rewards):
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return mean_rewards >= env.spec.reward_threshold
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def train_fn(epoch, env_step):
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# eps annnealing, just a demo
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if env_step <= 10000:
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policy.set_eps(args.eps_train)
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elif env_step <= 50000:
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eps = args.eps_train - (env_step - 10000) / \
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40000 * (0.9 * args.eps_train)
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policy.set_eps(eps)
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else:
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policy.set_eps(0.1 * args.eps_train)
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def test_fn(epoch, env_step):
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policy.set_eps(args.eps_test)
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# trainer
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result = offpolicy_trainer(
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policy,
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train_collector,
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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.step_per_collect,
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args.test_num,
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args.batch_size,
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train_fn=train_fn,
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test_fn=test_fn,
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stop_fn=stop_fn,
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save_fn=save_fn,
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logger=logger,
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update_per_step=args.update_per_step
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)
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assert stop_fn(result['best_reward'])
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if __name__ == '__main__':
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pprint.pprint(result)
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# Let's watch its performance!
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env = gym.make(args.task)
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policy.eval()
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policy.set_eps(args.eps_test)
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collector = Collector(policy, env)
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result = collector.collect(n_episode=1, render=args.render)
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rews, lens = result["rews"], result["lens"]
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print(f"Final reward: {rews.mean()}, length: {lens.mean()}")
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def test_pfqf(args=get_args()):
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args.prioritized_replay = True
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args.gamma = .95
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test_fqf(args)
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if __name__ == '__main__':
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test_fqf(get_args())
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