next_state, reward, done, _ = envs.step(action.cpu().numpy())
log_prob = dist.log_prob(action)
agent.entropy += dist.entropy().mean()
agent.append_log_prob(log_prob)
agent.append_value(value)
agent.append_reward(reward)
agent.append_done(done)
agent.append_state(state)
agent.append_action(action)
state = next_state
idx += 1
if idx % 1000 == 0:
score = np.mean([agent.test_env(env) for _ in range(100)])
print(idx, score)
scores.append(score)
if score > best_avg_score:
best_avg_score = score
agent.save_model('../models/ppo/model.pt')
print('Saved best model')
if score > args.threshold_score:
early_stop = True
agent.train(next_state)
plot_and_save_scores(scores, args.max_frames / 1000, args)
def paralle_train(args):
logger = SummaryWriter(log_dir='results/{}_{}_{}'.format(
args.env, args.seed,
datetime.datetime.now().strftime("%Y-%m-%d_%H-%M-%S")))
np.random.seed(args.seed)
torch.manual_seed(args.seed)
env = gym.make(args.env)
env_params = get_env_params(env, args)
env.close()
agent = PPOAgent(args, env_params)
workers, parent_conns, children_conns = workers_initialize(args)
obs = np.zeros(shape=[args.num_worker, 4, 84, 84], dtype=np.float32)
#initialize obs_normalizer
print('Start initialize obs normalizer....')
next_obs_batch = []
for step in range(args.initialize_episode * args.max_episode_step):
actions = np.random.randint(0,
env_params['a_dim'],
size=(args.num_worker))
for parent_conn, action in zip(parent_conns, actions):
parent_conn.send(action)
for parent_conn in parent_conns:
obs_, r, done, info = parent_conn.recv()
next_obs_batch.append(obs_)
if len(next_obs_batch) % (10 * args.num_worker) == 0:
next_obs_batch = np.stack(next_obs_batch)
agent.normalizer_obs.update(next_obs_batch)
next_obs_batch = []
print('End initialize obs normalizer....')
log_reward_ex = 0
log_reward_in = 0
log_step = 0
log_episode = 0
for i_epoch in range(args.max_epoch):
epoch_obs, epoch_action, epoch_ri, epoch_re, epoch_mask, epoch_next_obs, epoch_logprob = [], [], [], [], [], [], []
for i_step in range(args.rollout_len):
actions, log_probs = agent.choose_action(obs)
for action, parent_conn in zip(actions, parent_conns):
parent_conn.send(action)
batch_re, batch_mask, batch_next_obs = [], [], []
for parent_conn in parent_conns:
obs_, r_e, done, info = parent_conn.recv()
batch_next_obs.append(obs_)
batch_re.append(r_e)
batch_mask.append(0 if done else 1)
batch_next_obs = np.stack(batch_next_obs)
batch_re = np.stack(batch_re)
batch_mask = np.stack(batch_mask)
batch_ri = agent.compute_intrinsic_reward(batch_next_obs.copy())
#for log
log_reward_ex += batch_re[args.log_env_idx]
log_reward_in += batch_ri[args.log_env_idx]
log_step += 1
if batch_mask[args.log_env_idx] == 0:
log_episode += 1
logger.add_scalar('Indicator/Reward_ex', log_reward_ex,
log_episode)
logger.add_scalar('Indicator/Reward_in', log_reward_in,
log_episode)
log_reward_ex = 0
log_reward_in = 0
epoch_obs.append(obs)
epoch_action.append(actions)
epoch_next_obs.append(batch_next_obs)
epoch_ri.append(batch_ri)
epoch_re.append(batch_re)
epoch_mask.append(batch_mask)
epoch_logprob.append(log_probs)
obs = batch_next_obs[:, :, :, :]
epoch_obs = np.stack(epoch_obs)
epoch_action = np.stack(epoch_action)
epoch_ri = np.stack(epoch_ri)
epoch_re = np.stack(epoch_re)
epoch_mask = np.stack(epoch_mask)
epoch_next_obs = np.stack(epoch_next_obs)
epoch_logprob = np.stack(epoch_logprob)
epoch_obs = np.transpose(epoch_obs, axes=[1, 0, 2, 3, 4])
epoch_action = np.transpose(epoch_action, axes=[1, 0])
epoch_ri = np.transpose(epoch_ri, axes=[1, 0])
epoch_re = np.transpose(epoch_re, axes=[1, 0])
epoch_mask = np.transpose(epoch_mask, axes=[1, 0])
epoch_next_obs = np.transpose(epoch_next_obs, axes=[1, 0, 2, 3, 4])
epoch_logprob = np.transpose(epoch_logprob, axes=[1, 0])
loss_rnd, loss_a, loss_c = agent.update(epoch_obs, epoch_action,
epoch_ri, epoch_re, epoch_mask,
epoch_next_obs, epoch_logprob)
used_sample_num = args.rollout_len * args.num_worker * i_epoch
logger.add_scalar('Loss/loss_RND', loss_rnd, used_sample_num)
logger.add_scalar('Loss/loss_a', loss_a, used_sample_num)
logger.add_scalar('Loss/loss_c', loss_c, used_sample_num)
if i_epoch % args.save_model_interval == 0:
agent.save_model(remark='{}'.format(i_epoch))
def experiment(hidden_size=64,
lr=3e-4,
num_steps=2048,
mini_batch_size=32,
ppo_epochs=10,
threshold_reward=10,
max_episodes=15,
nrmlz_adv=True,
gamma=0.99,
tau=0.95,
clip_gradients=True):
'''
:param hidden_size: number of neurons for the layers of the model
:param lr: learning rate
:param num_steps: maximum duration of one epoch
:param mini_batch_size: mini batch size for ppo
:param ppo_epochs: number of epochs for ppo to learn
:param threshold_reward: what is the goal of the training
:param max_episodes: maximum duration of the training
:param nrmlz_adv: True, if advantages should be normalized before PPO
:param clip_gradients: True if gradients should ne clipped after PPO
:return: list of scores and list of test_rewards
'''
use_cuda = torch.cuda.is_available()
device = torch.device("cuda" if use_cuda else "cpu")
scores_window = deque(maxlen=100)
test_rewards = []
moving_averages = []
env = UnityEnvironment(file_name='reacher20/reacher', base_port=64739)
# get the default brain
brain_name = env.brain_names[0]
brain = env.brains[brain_name]
# reset the environment
env_info = env.reset(train_mode=True)[brain_name]
action_size = brain.vector_action_space_size
num_agents = len(env_info.agents)
states = env_info.vector_observations
state_size = states.shape[1]
agent = PPOAgent(learning_rate=lr,
state_size=state_size,
action_size=action_size,
hidden_size=hidden_size,
num_agents=num_agents,
random_seed=0,
ppo_epochs=ppo_epochs,
mini_batch_size=mini_batch_size,
normalize_advantages=nrmlz_adv,
clip_gradients=clip_gradients,
gamma=gamma,
tau=tau,
device=device)
# while episode < max_episodes and not early_stop:
for episode in tqdm(range(max_episodes)):
log_probs = []
values = []
states_list = []
actions_list = []
rewards = []
masks = []
env_info = env.reset(train_mode=True)[brain_name]
state = env_info.vector_observations
for duration in range(num_steps):
state = torch.FloatTensor(state).to(device)
action, value, log_prob = agent.act(state)
env_info = env.step(action.cpu().data.numpy())[
brain_name] # send all actions to the environment
next_state = env_info.vector_observations # get next state (for each agent)
reward = env_info.rewards # get reward (for each agent)
dones = np.array(env_info.local_done) # see if episode finished
if reward == None:
pass
log_probs.append(log_prob)
values.append(value)
reward_t = torch.FloatTensor(reward).unsqueeze(1).to(device)
masks_t = torch.FloatTensor(1 - dones)
rewards.append(reward_t)
masks.append(masks_t)
states_list.append(state)
actions_list.append(action)
state = next_state
if np.any(dones):
break
next_state = torch.FloatTensor(state).to(device)
_, next_value, _ = agent.act(next_state)
agent.step(states=states_list,
actions=actions_list,
values=values,
log_probs=log_probs,
rewards=rewards,
masks=masks,
next_value=next_value)
test_mean_reward = test_agent(env, brain_name, agent, device)
test_rewards.append(test_mean_reward)
scores_window.append(test_mean_reward)
moving_averages.append(np.mean(scores_window))
print('Episode {}, Total score this episode: {}, Last {} average: {}'.
format(episode, test_mean_reward, min(episode, 100),
np.mean(scores_window)))
if np.mean(scores_window) > threshold_reward:
agent.save_model(
f"ppo_checkpoint_{test_mean_reward}_e{episode}_hs{hidden_size}_lr{lr}_st{num_steps}_b{mini_batch_size}_ppo{ppo_epochs}_r{threshold_reward}_e{episode}_adv{nrmlz_adv}_{test_mean_reward}.pth"
)
print(
'\nEnvironment solved in {:d} episodes!\tAverage Score: {:.2f}'
.format(episode, test_mean_reward))
break
episode += 1
env.close()
return scores_window, test_rewards, moving_averages
