def main(args):
init_ray(args.num_cpus, args.num_gpus, args.ray_redis_address)
if not os.path.exists(args.log):
os.makedirs(args.log)
if not os.path.exists(os.path.join(args.log, 'models')):
os.mkdir(os.path.join(args.log, 'models'))
score_file = os.path.join(args.log, 'progress.csv')
logger.add_tabular_output(score_file)
logger.add_tensorboard_output(args.log)
with open(os.path.join(args.log, 'args.json'), 'w') as f:
json.dump(vars(args), f)
pprint(vars(args))
# when doing the distributed training, disable video recordings
env = GymEnv(args.env_name)
env.env.seed(args.seed)
if args.c2d:
env = C2DEnv(env)
observation_space = env.observation_space
action_space = env.action_space
pol_net = PolNet(observation_space, action_space)
rnn = False
# pol_net = PolNetLSTM(observation_space, action_space)
# rnn = True
if isinstance(action_space, gym.spaces.Box):
pol = GaussianPol(observation_space, action_space, pol_net, rnn=rnn)
elif isinstance(action_space, gym.spaces.Discrete):
pol = CategoricalPol(observation_space, action_space, pol_net)
elif isinstance(action_space, gym.spaces.MultiDiscrete):
pol = MultiCategoricalPol(observation_space, action_space, pol_net)
else:
raise ValueError('Only Box, Discrete, and MultiDiscrete are supported')
vf_net = VNet(observation_space)
vf = DeterministicSVfunc(observation_space, vf_net)
trainer = TrainManager(Trainer,
args.num_trainer,
args.master_address,
args=args,
vf=vf,
pol=pol)
sampler = EpiSampler(env, pol, args.num_parallel, seed=args.seed)
total_epi = 0
total_step = 0
max_rew = -1e6
start_time = time.time()
while args.max_epis > total_epi:
with measure('sample'):
sampler.set_pol_state(trainer.get_state("pol"))
epis = sampler.sample(max_steps=args.max_steps_per_iter)
with measure('train'):
result_dict = trainer.train(epis=epis)
step = result_dict["traj_num_step"]
total_step += step
total_epi += result_dict["traj_num_epi"]
rewards = [np.sum(epi['rews']) for epi in epis]
mean_rew = np.mean(rewards)
elapsed_time = time.time() - start_time
logger.record_tabular('ElapsedTime', elapsed_time)
logger.record_results(args.log,
result_dict,
score_file,
total_epi,
step,
total_step,
rewards,
plot_title=args.env_name)
with measure('save'):
pol_state = trainer.get_state("pol")
vf_state = trainer.get_state("vf")
optim_pol_state = trainer.get_state("optim_pol")
optim_vf_state = trainer.get_state("optim_vf")
torch.save(pol_state,
os.path.join(args.log, 'models', 'pol_last.pkl'))
torch.save(vf_state, os.path.join(args.log, 'models',
'vf_last.pkl'))
torch.save(optim_pol_state,
os.path.join(args.log, 'models', 'optim_pol_last.pkl'))
torch.save(optim_vf_state,
os.path.join(args.log, 'models', 'optim_vf_last.pkl'))
if mean_rew > max_rew:
torch.save(pol_state,
os.path.join(args.log, 'models', 'pol_max.pkl'))
torch.save(vf_state,
os.path.join(args.log, 'models', 'vf_max.pkl'))
torch.save(
optim_pol_state,
os.path.join(args.log, 'models', 'optim_pol_max.pkl'))
torch.save(
optim_vf_state,
os.path.join(args.log, 'models', 'optim_vf_max.pkl'))
max_rew = mean_rew
del sampler
del trainer
# modelの保存場所確保
if not os.path.exists(os.path.join(args.log, 'models')):
os.mkdir(os.path.join(args.log, 'models'))
# 乱数の種固定
np.random.seed(args.seed)
torch.manual_seed(args.seed)
# GPU or CPU
device_name = 'cpu' if args.cuda < 0 else "cuda:{}".format(args.cuda)
device = torch.device(device_name)
set_device(device)
# logのcsvファイル確保
score_file = os.path.join(args.log, 'progress.csv')
logger.add_tabular_output(score_file)
# Gymのenviromentを生成
from pybullet_envs.bullet.kukaCamGymEnv import KukaCamGymEnv
env = KukaCamGymEnv(renders=False,
isDiscrete=False) # renders=Trueだとmachinaのtrain進まない。相性が悪い？
env = FlattenedObservationWrapper(env)
flattend_observation_space = env.flattend_observation_space
env = GymEnv(env,
log_dir=os.path.join(args.log, 'movie'),
record_video=args.record)
env.env.seed(args.seed)
# 観測と行動の次元
observation_space = env.observation_space
def train(self):
args = self.args
# TODO: cuda seems to be broken, I don't care about it right now
# if args.cuda:
# # current_obs = current_obs.cuda()
# rollouts.cuda()
self.train_start_time = time.time()
total_epi = 0
total_step = 0
max_rew = -1e6
sampler = None
score_file = os.path.join(self.logger.get_logdir(), "progress.csv")
logger.add_tabular_output(score_file)
num_total_frames = args.num_total_frames
mirror_function = None
if args.mirror_tuples and hasattr(self.env.unwrapped,
"mirror_indices"):
mirror_function = get_mirror_function(
**self.env.unwrapped.mirror_indices)
num_total_frames *= 2
if not args.tanh_finish:
warnings.warn(
"When `mirror_tuples` is `True`,"
" `tanh_finish` should be set to `True` as well."
" Otherwise there is a chance of the training blowing up.")
while num_total_frames > total_step:
# setup the correct curriculum learning environment/parameters
new_curriculum = self.curriculum_handler(total_step /
args.num_total_frames)
if total_step == 0 or new_curriculum:
if sampler is not None:
del sampler
sampler = EpiSampler(
self.env,
self.pol,
num_parallel=self.args.num_processes,
seed=self.args.seed + total_step, # TODO: better fix?
)
with measure("sample"):
epis = sampler.sample(self.pol,
max_steps=args.num_steps *
args.num_processes)
with measure("train"):
with measure("epis"):
traj = Traj()
traj.add_epis(epis)
traj = ef.compute_vs(traj, self.vf)
traj = ef.compute_rets(traj, args.decay_gamma)
traj = ef.compute_advs(traj, args.decay_gamma,
args.gae_lambda)
traj = ef.centerize_advs(traj)
traj = ef.compute_h_masks(traj)
traj.register_epis()
if mirror_function:
traj.add_traj(mirror_function(traj))
# if args.data_parallel:
# self.pol.dp_run = True
# self.vf.dp_run = True
result_dict = ppo_clip.train(
traj=traj,
pol=self.pol,
vf=self.vf,
clip_param=args.clip_eps,
optim_pol=self.optim_pol,
optim_vf=self.optim_vf,
epoch=args.epoch_per_iter,
batch_size=args.batch_size
if not args.rnn else args.rnn_batch_size,
max_grad_norm=args.max_grad_norm,
)
# if args.data_parallel:
# self.pol.dp_run = False
# self.vf.dp_run = False
## append the metrics to the `results_dict` (reported in the progress.csv)
result_dict.update(self.get_extra_metrics(epis))
total_epi += traj.num_epi
step = traj.num_step
total_step += step
rewards = [np.sum(epi["rews"]) for epi in epis]
mean_rew = np.mean(rewards)
logger.record_results(
self.logger.get_logdir(),
result_dict,
score_file,
total_epi,
step,
total_step,
rewards,
plot_title=args.env,
)
if mean_rew > max_rew:
self.save_models("max")
max_rew = mean_rew
self.save_models("last")
self.scheduler_pol.step()
self.scheduler_vf.step()
del traj