e767de044b
* remove dummy net; delete two files * split code to have backbone and head * rename class * change torch.float to torch.float32 * use flatten(1) instead of view(batch, -1) * remove dummy net in docs * bugfix for rnn * fix cuda error * minor fix of docs * do not change the example code in dqn tutorial, since it is for demonstration Co-authored-by: Trinkle23897 <463003665@qq.com>
103 lines
4.1 KiB
Python
103 lines
4.1 KiB
Python
import gym
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import torch
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import pprint
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import argparse
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import numpy as np
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from torch.utils.tensorboard import SummaryWriter
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from tianshou.policy import DDPGPolicy
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from tianshou.trainer import offpolicy_trainer
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from tianshou.data import Collector, ReplayBuffer
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from tianshou.env import VectorEnv, SubprocVectorEnv
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from tianshou.exploration import GaussianNoise
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from tianshou.utils.net.common import Net
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from tianshou.utils.net.continuous import Actor, 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='Ant-v2')
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parser.add_argument('--seed', type=int, default=1626)
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parser.add_argument('--buffer-size', type=int, default=20000)
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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=1e-3)
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parser.add_argument('--gamma', type=float, default=0.99)
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parser.add_argument('--tau', type=float, default=0.005)
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parser.add_argument('--exploration-noise', type=float, default=0.1)
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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=2400)
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parser.add_argument('--collect-per-step', type=int, default=4)
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parser.add_argument('--batch-size', type=int, default=128)
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parser.add_argument('--layer-num', type=int, default=1)
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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=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(
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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_ddpg(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]
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# train_envs = gym.make(args.task)
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train_envs = VectorEnv(
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[lambda: gym.make(args.task) for _ in range(args.training_num)])
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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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# 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, device=args.device)
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actor = Actor(net, args.action_shape, args.max_action,
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args.device).to(args.device)
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actor_optim = torch.optim.Adam(actor.parameters(), lr=args.actor_lr)
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net = Net(args.layer_num, args.state_shape,
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args.action_shape, concat=True, device=args.device)
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critic = Critic(net, args.device).to(args.device)
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critic_optim = torch.optim.Adam(critic.parameters(), lr=args.critic_lr)
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policy = DDPGPolicy(
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actor, actor_optim, critic, critic_optim,
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args.tau, args.gamma, GaussianNoise(sigma=args.exploration_noise),
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[env.action_space.low[0], env.action_space.high[0]],
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reward_normalization=True, ignore_done=True)
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# collector
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train_collector = Collector(
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policy, train_envs, ReplayBuffer(args.buffer_size))
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test_collector = Collector(policy, test_envs)
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# log
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writer = SummaryWriter(args.logdir + '/' + 'ddpg')
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def stop_fn(x):
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return x >= env.spec.reward_threshold
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# trainer
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result = offpolicy_trainer(
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policy, train_collector, test_collector, args.epoch,
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args.step_per_epoch, args.collect_per_step, args.test_num,
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args.batch_size, stop_fn=stop_fn, writer=writer, task=args.task)
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assert stop_fn(result['best_reward'])
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train_collector.close()
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test_collector.close()
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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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collector = Collector(policy, env)
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result = collector.collect(n_episode=1, render=args.render)
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print(f'Final reward: {result["rew"]}, length: {result["len"]}')
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collector.close()
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if __name__ == '__main__':
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test_ddpg()
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