def get_cartpole_env_and_specs():
env = suite_gym.load('CartPole-v0')
_, action_tensor_spec, time_step_tensor_spec = (
spec_utils.get_tensor_specs(env))
return env, action_tensor_spec, time_step_tensor_spec
def _build_components(self, rb_port):
env = suite_gym.load('CartPole-v0')
observation_tensor_spec, action_tensor_spec, time_step_tensor_spec = (
spec_utils.get_tensor_specs(env))
train_step = train_utils.create_train_step()
q_net = q_network.QNetwork(observation_tensor_spec,
action_tensor_spec,
fc_layer_params=(100, ))
agent = dqn_agent.DqnAgent(
time_step_tensor_spec,
action_tensor_spec,
q_network=q_net,
optimizer=tf.compat.v1.train.AdamOptimizer(learning_rate=0.001),
train_step_counter=train_step)
replay_buffer, rb_observer = (
replay_buffer_utils.get_reverb_buffer_and_observer(
agent.collect_data_spec,
sequence_length=2,
replay_capacity=1000,
port=rb_port))
return env, agent, train_step, replay_buffer, rb_observer
def test_get_tensor_specs(self):
collect_env = suite_gym.load('CartPole-v0')
observation_spec, action_spec, time_step_spec = (
spec_utils.get_tensor_specs(collect_env))
self.assertEqual(observation_spec.name, 'observation')
self.assertEqual(action_spec.name, 'action')
self.assertEqual(time_step_spec.observation.name, 'observation')
self.assertEqual(time_step_spec.reward.name, 'reward')
def train_eval(
root_dir,
env_name='HalfCheetah-v2',
# Training params
num_iterations=20000,
actor_fc_layers=(64, 64),
value_fc_layers=(64, 64),
learning_rate=3e-4,
collect_sequence_length=2048,
minibatch_size=64,
num_epochs=10,
# Agent params
importance_ratio_clipping=0.2,
lambda_value=0.95,
discount_factor=0.99,
entropy_regularization=0.,
value_pred_loss_coef=0.5,
use_gae=True,
use_td_lambda_return=True,
gradient_clipping=None,
value_clipping=None,
# Replay params
reverb_port=None,
replay_capacity=10000,
# Others
policy_save_interval=5000,
summary_interval=1000,
eval_interval=10000,
eval_episodes=30,
debug_summaries=False,
summarize_grads_and_vars=False):
"""Trains and evaluates PPO (Importance Ratio Clipping).
Args:
root_dir: Main directory path where checkpoints, saved_models, and summaries
will be written to.
env_name: Name for the Mujoco environment to load.
num_iterations: The number of iterations to perform collection and training.
actor_fc_layers: List of fully_connected parameters for the actor network,
where each item is the number of units in the layer.
value_fc_layers: : List of fully_connected parameters for the value network,
where each item is the number of units in the layer.
learning_rate: Learning rate used on the Adam optimizer.
collect_sequence_length: Number of steps to take in each collect run.
minibatch_size: Number of elements in each mini batch. If `None`, the entire
collected sequence will be treated as one batch.
num_epochs: Number of iterations to repeat over all collected data per data
collection step. (Schulman,2017) sets this to 10 for Mujoco, 15 for
Roboschool and 3 for Atari.
importance_ratio_clipping: Epsilon in clipped, surrogate PPO objective. For
more detail, see explanation at the top of the doc.
lambda_value: Lambda parameter for TD-lambda computation.
discount_factor: Discount factor for return computation. Default to `0.99`
which is the value used for all environments from (Schulman, 2017).
entropy_regularization: Coefficient for entropy regularization loss term.
Default to `0.0` because no entropy bonus was used in (Schulman, 2017).
value_pred_loss_coef: Multiplier for value prediction loss to balance with
policy gradient loss. Default to `0.5`, which was used for all
environments in the OpenAI baseline implementation. This parameters is
irrelevant unless you are sharing part of actor_net and value_net. In that
case, you would want to tune this coeeficient, whose value depends on the
network architecture of your choice.
use_gae: If True (default False), uses generalized advantage estimation for
computing per-timestep advantage. Else, just subtracts value predictions
from empirical return.
use_td_lambda_return: If True (default False), uses td_lambda_return for
training value function; here: `td_lambda_return = gae_advantage +
value_predictions`. `use_gae` must be set to `True` as well to enable TD
-lambda returns. If `use_td_lambda_return` is set to True while
`use_gae` is False, the empirical return will be used and a warning will
be logged.
gradient_clipping: Norm length to clip gradients.
value_clipping: Difference between new and old value predictions are clipped
to this threshold. Value clipping could be helpful when training
very deep networks. Default: no clipping.
reverb_port: Port for reverb server, if None, use a randomly chosen unused
port.
replay_capacity: The maximum number of elements for the replay buffer. Items
will be wasted if this is smalled than collect_sequence_length.
policy_save_interval: How often, in train_steps, the policy will be saved.
summary_interval: How often to write data into Tensorboard.
eval_interval: How often to run evaluation, in train_steps.
eval_episodes: Number of episodes to evaluate over.
debug_summaries: Boolean for whether to gather debug summaries.
summarize_grads_and_vars: If true, gradient summaries will be written.
"""
collect_env = suite_mujoco.load(env_name)
eval_env = suite_mujoco.load(env_name)
num_environments = 1
observation_tensor_spec, action_tensor_spec, time_step_tensor_spec = (
spec_utils.get_tensor_specs(collect_env))
train_step = train_utils.create_train_step()
actor_net = actor_distribution_network.ActorDistributionNetwork(
observation_tensor_spec,
action_tensor_spec,
fc_layer_params=actor_fc_layers,
activation_fn=tf.nn.tanh,
kernel_initializer=tf.keras.initializers.Orthogonal())
value_net = value_network.ValueNetwork(
observation_tensor_spec,
fc_layer_params=value_fc_layers,
kernel_initializer=tf.keras.initializers.Orthogonal())
current_iteration = tf.Variable(0, dtype=tf.int64)
def learning_rate_fn():
# Linearly decay the learning rate.
return learning_rate * (1 - current_iteration / num_iterations)
agent = ppo_clip_agent.PPOClipAgent(
time_step_tensor_spec,
action_tensor_spec,
optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=learning_rate_fn, epsilon=1e-5),
actor_net=actor_net,
value_net=value_net,
importance_ratio_clipping=importance_ratio_clipping,
lambda_value=lambda_value,
discount_factor=discount_factor,
entropy_regularization=entropy_regularization,
value_pred_loss_coef=value_pred_loss_coef,
# This is a legacy argument for the number of times we repeat the data
# inside of the train function, incompatible with mini batch learning.
# We set the epoch number from the replay buffer and tf.Data instead.
num_epochs=1,
use_gae=use_gae,
use_td_lambda_return=use_td_lambda_return,
gradient_clipping=gradient_clipping,
value_clipping=value_clipping,
# TODO(b/150244758): Default compute_value_and_advantage_in_train to False
# after Reverb open source.
compute_value_and_advantage_in_train=False,
# Skips updating normalizers in the agent, as it's handled in the learner.
update_normalizers_in_train=False,
debug_summaries=debug_summaries,
summarize_grads_and_vars=summarize_grads_and_vars,
train_step_counter=train_step)
agent.initialize()
reverb_server = reverb.Server(
[
reverb.Table( # Replay buffer storing experience for training.
name='training_table',
sampler=reverb.selectors.Fifo(),
remover=reverb.selectors.Fifo(),
rate_limiter=reverb.rate_limiters.MinSize(1),
max_size=replay_capacity,
max_times_sampled=1,
),
reverb.
Table( # Replay buffer storing experience for normalization.
name='normalization_table',
sampler=reverb.selectors.Fifo(),
remover=reverb.selectors.Fifo(),
rate_limiter=reverb.rate_limiters.MinSize(1),
max_size=replay_capacity,
max_times_sampled=1,
)
],
port=reverb_port)
# Create the replay buffer.
reverb_replay_train = reverb_replay_buffer.ReverbReplayBuffer(
agent.collect_data_spec,
sequence_length=collect_sequence_length,
table_name='training_table',
server_address='localhost:{}'.format(reverb_server.port),
# The only collected sequence is used to populate the batches.
max_cycle_length=1,
rate_limiter_timeout_ms=1000)
reverb_replay_normalization = reverb_replay_buffer.ReverbReplayBuffer(
agent.collect_data_spec,
sequence_length=collect_sequence_length,
table_name='normalization_table',
server_address='localhost:{}'.format(reverb_server.port),
# The only collected sequence is used to populate the batches.
max_cycle_length=1,
rate_limiter_timeout_ms=1000)
rb_observer = reverb_utils.ReverbTrajectorySequenceObserver(
reverb_replay_train.py_client,
['training_table', 'normalization_table'],
sequence_length=collect_sequence_length,
stride_length=collect_sequence_length)
saved_model_dir = os.path.join(root_dir, learner.POLICY_SAVED_MODEL_DIR)
collect_env_step_metric = py_metrics.EnvironmentSteps()
learning_triggers = [
triggers.PolicySavedModelTrigger(saved_model_dir,
agent,
train_step,
interval=policy_save_interval,
metadata_metrics={
triggers.ENV_STEP_METADATA_KEY:
collect_env_step_metric
}),
triggers.StepPerSecondLogTrigger(train_step,
interval=summary_interval),
]
def training_dataset_fn():
return reverb_replay_train.as_dataset(
sample_batch_size=num_environments,
sequence_preprocess_fn=agent.preprocess_sequence)
def normalization_dataset_fn():
return reverb_replay_normalization.as_dataset(
sample_batch_size=num_environments,
sequence_preprocess_fn=agent.preprocess_sequence)
agent_learner = ppo_learner.PPOLearner(
root_dir,
train_step,
agent,
experience_dataset_fn=training_dataset_fn,
normalization_dataset_fn=normalization_dataset_fn,
num_batches=1,
num_epochs=num_epochs,
minibatch_size=minibatch_size,
shuffle_buffer_size=collect_sequence_length,
triggers=learning_triggers)
tf_collect_policy = agent.collect_policy
collect_policy = py_tf_eager_policy.PyTFEagerPolicy(tf_collect_policy,
use_tf_function=True)
collect_actor = actor.Actor(collect_env,
collect_policy,
train_step,
steps_per_run=collect_sequence_length,
observers=[rb_observer],
metrics=actor.collect_metrics(buffer_size=10) +
[collect_env_step_metric],
reference_metrics=[collect_env_step_metric],
summary_dir=os.path.join(
root_dir, learner.TRAIN_DIR),
summary_interval=summary_interval)
tf_greedy_policy = agent.policy
greedy_policy = py_tf_eager_policy.PyTFEagerPolicy(tf_greedy_policy,
use_tf_function=True)
if eval_interval:
logging.info('Intial evaluation.')
eval_actor = actor.Actor(eval_env,
greedy_policy,
train_step,
metrics=actor.eval_metrics(eval_episodes),
summary_dir=os.path.join(root_dir, 'eval'),
episodes_per_run=eval_episodes)
eval_actor.run_and_log()
logging.info('Training.')
for _ in range(num_iterations):
collect_actor.run()
# TODO(b/159615593): Update to use observer.flush.
# Reset the reverb observer to make sure the data collected is flushed and
# written to the RB.
rb_observer.reset()
agent_learner.run()
reverb_replay_train.clear()
reverb_replay_normalization.clear()
current_iteration.assign_add(1)
if eval_interval and agent_learner.train_step_numpy % eval_interval == 0:
logging.info('Evaluating.')
eval_actor.run_and_log()
rb_observer.close()
reverb_server.stop()
eval_interval = 1000 # @param {type:"integer"}
policy_save_interval = 5000 # @param {type:"integer"}
env = get_tf_wrapped_robo_rugby_env()
print('Observation Spec:')
print(env.time_step_spec().observation)
print('Action Spec:')
print(env.action_spec())
collect_env = get_tf_wrapped_robo_rugby_env()
eval_env = get_tf_wrapped_robo_rugby_env()
objStrategy = strategy_utils.get_strategy(tpu=False, use_gpu=True)
specObservation, specAction, specTimeStep = (
spec_utils.get_tensor_specs(collect_env))
with objStrategy.scope():
# Critic network trains the Actor network
nnCritic = critic_network.CriticNetwork(
(specObservation, specAction),
observation_fc_layer_params=None,
action_fc_layer_params=None,
joint_fc_layer_params=HyperParms.critic_joint_fc_layer_params,
kernel_initializer='glorot_uniform',
last_kernel_initializer='glorot_uniform')
with objStrategy.scope():
nnActor = actor_distribution_network.ActorDistributionNetwork(
specObservation,
specAction,
def train(
root_dir,
strategy,
replay_buffer_server_address,
variable_container_server_address,
create_agent_fn,
create_env_fn,
# Training params
learning_rate=3e-4,
batch_size=256,
num_iterations=32000,
learner_iterations_per_call=100):
"""Trains a DQN agent."""
# Get the specs from the environment.
logging.info('Training SAC with learning rate: %f', learning_rate)
env = create_env_fn()
observation_tensor_spec, action_tensor_spec, time_step_tensor_spec = (
spec_utils.get_tensor_specs(env))
# Create the agent.
with strategy.scope():
train_step = train_utils.create_train_step()
agent = create_agent_fn(train_step, observation_tensor_spec,
action_tensor_spec, time_step_tensor_spec,
learning_rate)
agent.initialize()
# Create the policy saver which saves the initial model now, then it
# periodically checkpoints the policy weigths.
saved_model_dir = os.path.join(root_dir, learner.POLICY_SAVED_MODEL_DIR)
save_model_trigger = triggers.PolicySavedModelTrigger(
saved_model_dir, agent, train_step, interval=1000)
# Create the variable container.
variables = {
reverb_variable_container.POLICY_KEY: agent.collect_policy.variables(),
reverb_variable_container.TRAIN_STEP_KEY: train_step
}
variable_container = reverb_variable_container.ReverbVariableContainer(
variable_container_server_address,
table_names=[reverb_variable_container.DEFAULT_TABLE])
variable_container.push(variables)
# Create the replay buffer.
reverb_replay = reverb_replay_buffer.ReverbReplayBuffer(
agent.collect_data_spec,
sequence_length=2,
table_name=reverb_replay_buffer.DEFAULT_TABLE,
server_address=replay_buffer_server_address)
# Initialize the dataset.
def experience_dataset_fn():
with strategy.scope():
return reverb_replay.as_dataset(
sample_batch_size=batch_size, num_steps=2).prefetch(3)
# Create the learner.
learning_triggers = [
save_model_trigger,
triggers.StepPerSecondLogTrigger(train_step, interval=1000)
]
sac_learner = learner.Learner(
root_dir,
train_step,
agent,
experience_dataset_fn,
triggers=learning_triggers,
strategy=strategy)
# Run the training loop.
# TODO(b/162440911) change the loop use train_step to handle preemptions
for _ in range(num_iterations):
sac_learner.run(iterations=learner_iterations_per_call)
variable_container.push(variables)
target_update_period = 1
gamma = 0.99
reward_scale_factor = 1.0
actor_fc_layer_params = (256, 256)
critic_joint_fc_layer_params = (256, 256)
log_interval = 5000
num_eval_episodes = 20
eval_interval = 10000
policy_save_interval = 5000
collect_env = tf_py_environment.TFPyEnvironment(suite_pybullet.load(env_name))
eval_env = tf_py_environment.TFPyEnvironment(suite_pybullet.load(env_name))
observation_spec, action_spec, time_step_spec = (spec_utils.get_tensor_specs(collect_env))
critic_net = critic_network.CriticNetwork(
(observation_spec, action_spec),
observation_fc_layer_params=None,
action_fc_layer_params=None,
joint_fc_layer_params=critic_joint_fc_layer_params,
kernel_initializer=tf.keras.initializers.HeNormal(),
last_kernel_initializer=tf.keras.initializers.HeNormal()
)
actor_net = actor_distribution_network.ActorDistributionNetwork(
observation_spec,
action_spec,
fc_layer_params=actor_fc_layer_params,
continuous_projection_net=(tanh_normal_projection_network.TanhNormalProjectionNetwork)
def train_eval(
root_dir,
env_name='HalfCheetah-v2',
# Training params
initial_collect_steps=10000,
num_iterations=3200000,
actor_fc_layers=(256, 256),
critic_obs_fc_layers=None,
critic_action_fc_layers=None,
critic_joint_fc_layers=(256, 256),
# Agent params
batch_size=256,
actor_learning_rate=3e-4,
critic_learning_rate=3e-4,
alpha_learning_rate=3e-4,
gamma=0.99,
target_update_tau=0.005,
target_update_period=1,
reward_scale_factor=0.1,
# Replay params
reverb_port=None,
replay_capacity=1000000,
# Others
# Defaults to not checkpointing saved policy. If you wish to enable this,
# please note the caveat explained in README.md.
policy_save_interval=-1,
eval_interval=10000,
eval_episodes=30,
debug_summaries=False,
summarize_grads_and_vars=False):
"""Trains and evaluates SAC."""
logging.info('Training SAC on: %s', env_name)
collect_env = suite_mujoco.load(env_name)
eval_env = suite_mujoco.load(env_name)
observation_tensor_spec, action_tensor_spec, time_step_tensor_spec = (
spec_utils.get_tensor_specs(collect_env))
train_step = train_utils.create_train_step()
actor_net = actor_distribution_network.ActorDistributionNetwork(
observation_tensor_spec,
action_tensor_spec,
fc_layer_params=actor_fc_layers,
continuous_projection_net=tanh_normal_projection_network.
TanhNormalProjectionNetwork)
critic_net = critic_network.CriticNetwork(
(observation_tensor_spec, action_tensor_spec),
observation_fc_layer_params=critic_obs_fc_layers,
action_fc_layer_params=critic_action_fc_layers,
joint_fc_layer_params=critic_joint_fc_layers,
kernel_initializer='glorot_uniform',
last_kernel_initializer='glorot_uniform')
agent = sac_agent.SacAgent(
time_step_tensor_spec,
action_tensor_spec,
actor_network=actor_net,
critic_network=critic_net,
actor_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=actor_learning_rate),
critic_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=critic_learning_rate),
alpha_optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=alpha_learning_rate),
target_update_tau=target_update_tau,
target_update_period=target_update_period,
td_errors_loss_fn=tf.math.squared_difference,
gamma=gamma,
reward_scale_factor=reward_scale_factor,
gradient_clipping=None,
debug_summaries=debug_summaries,
summarize_grads_and_vars=summarize_grads_and_vars,
train_step_counter=train_step)
agent.initialize()
table_name = 'uniform_table'
table = reverb.Table(table_name,
max_size=replay_capacity,
sampler=reverb.selectors.Uniform(),
remover=reverb.selectors.Fifo(),
rate_limiter=reverb.rate_limiters.MinSize(1))
reverb_server = reverb.Server([table], port=reverb_port)
reverb_replay = reverb_replay_buffer.ReverbReplayBuffer(
agent.collect_data_spec,
sequence_length=2,
table_name=table_name,
local_server=reverb_server)
rb_observer = reverb_utils.ReverbAddTrajectoryObserver(
reverb_replay.py_client,
table_name,
sequence_length=2,
stride_length=1)
dataset = reverb_replay.as_dataset(sample_batch_size=batch_size,
num_steps=2).prefetch(50)
experience_dataset_fn = lambda: dataset
saved_model_dir = os.path.join(root_dir, learner.POLICY_SAVED_MODEL_DIR)
env_step_metric = py_metrics.EnvironmentSteps()
learning_triggers = [
triggers.PolicySavedModelTrigger(
saved_model_dir,
agent,
train_step,
interval=policy_save_interval,
metadata_metrics={triggers.ENV_STEP_METADATA_KEY:
env_step_metric}),
triggers.StepPerSecondLogTrigger(train_step, interval=1000),
]
agent_learner = learner.Learner(root_dir,
train_step,
agent,
experience_dataset_fn,
triggers=learning_triggers)
random_policy = random_py_policy.RandomPyPolicy(
collect_env.time_step_spec(), collect_env.action_spec())
initial_collect_actor = actor.Actor(collect_env,
random_policy,
train_step,
steps_per_run=initial_collect_steps,
observers=[rb_observer])
logging.info('Doing initial collect.')
initial_collect_actor.run()
tf_collect_policy = agent.collect_policy
collect_policy = py_tf_eager_policy.PyTFEagerPolicy(tf_collect_policy,
use_tf_function=True)
collect_actor = actor.Actor(collect_env,
collect_policy,
train_step,
steps_per_run=1,
metrics=actor.collect_metrics(10),
summary_dir=os.path.join(
root_dir, learner.TRAIN_DIR),
observers=[rb_observer, env_step_metric])
tf_greedy_policy = greedy_policy.GreedyPolicy(agent.policy)
eval_greedy_policy = py_tf_eager_policy.PyTFEagerPolicy(
tf_greedy_policy, use_tf_function=True)
eval_actor = actor.Actor(
eval_env,
eval_greedy_policy,
train_step,
episodes_per_run=eval_episodes,
metrics=actor.eval_metrics(eval_episodes),
summary_dir=os.path.join(root_dir, 'eval'),
)
if eval_interval:
logging.info('Evaluating.')
eval_actor.run_and_log()
logging.info('Training.')
for _ in range(num_iterations):
collect_actor.run()
agent_learner.run(iterations=1)
if eval_interval and agent_learner.train_step_numpy % eval_interval == 0:
logging.info('Evaluating.')
eval_actor.run_and_log()
rb_observer.close()
reverb_server.stop()
policy_save_interval = 5000
#####LOAD ENVIRONMENT #####
env_name = "MinitaurBulletEnv-v0"
env = suite_pybullet.load(env_name)
####TWO ENV instantiated. One for Train, One for Eval ######
train_py_env = suite_gym.load(env_name)
eval_py_env = suite_gym.load(env_name)
#Converts Numpy Arrays to Tensors, so they are compatible with Tensorflow agents and policies
train_env = tf_py_environment.TFPyEnvironment(train_py_env)
eval_env = tf_py_environment.TFPyEnvironment(eval_py_env)
time_step = env.reset()
observation_spec, action_spec, time_step_spec = (
spec_utils.get_tensor_specs(train_env))
#######Networks#####
#conv_layer_params = [(32,3,3),(32,3,3),(32,3,3)]
conv_layer_params = None
fc_layer_params = (400, 300)
kernel_initializer = tf.keras.initializers.VarianceScaling(
scale=1. / 3., mode='fan_in', distribution='uniform')
final_layer_initializer = tf.keras.initializers.RandomUniform(minval=-0.0003,
maxval=0.0003)
actor_net = actor_network.ActorNetwork(
observation_spec,
action_spec,
conv_layer_params=conv_layer_params,
fc_layer_params=fc_layer_params,
def train_eval(
root_dir,
env_name,
# Training params
train_sequence_length,
initial_collect_steps=1000,
collect_steps_per_iteration=1,
num_iterations=100000,
# RNN params.
q_network_fn=q_lstm_network, # defaults to q_lstm_network.
# Agent params
epsilon_greedy=0.1,
batch_size=64,
learning_rate=1e-3,
gamma=0.99,
target_update_tau=0.05,
target_update_period=5,
reward_scale_factor=1.0,
# Replay params
reverb_port=None,
replay_capacity=100000,
# Others
policy_save_interval=1000,
eval_interval=1000,
eval_episodes=10):
"""Trains and evaluates DQN."""
collect_env = suite_gym.load(env_name)
eval_env = suite_gym.load(env_name)
unused_observation_tensor_spec, action_tensor_spec, time_step_tensor_spec = (
spec_utils.get_tensor_specs(collect_env))
train_step = train_utils.create_train_step()
num_actions = action_tensor_spec.maximum - action_tensor_spec.minimum + 1
q_net = q_network_fn(num_actions=num_actions)
sequence_length = train_sequence_length + 1
agent = dqn_agent.DqnAgent(
time_step_tensor_spec,
action_tensor_spec,
q_network=q_net,
epsilon_greedy=epsilon_greedy,
# n-step updates aren't supported with RNNs yet.
n_step_update=1,
target_update_tau=target_update_tau,
target_update_period=target_update_period,
optimizer=tf.compat.v1.train.AdamOptimizer(
learning_rate=learning_rate),
td_errors_loss_fn=common.element_wise_squared_loss,
gamma=gamma,
reward_scale_factor=reward_scale_factor,
train_step_counter=train_step)
table_name = 'uniform_table'
table = reverb.Table(table_name,
max_size=replay_capacity,
sampler=reverb.selectors.Uniform(),
remover=reverb.selectors.Fifo(),
rate_limiter=reverb.rate_limiters.MinSize(1))
reverb_server = reverb.Server([table], port=reverb_port)
reverb_replay = reverb_replay_buffer.ReverbReplayBuffer(
agent.collect_data_spec,
sequence_length=sequence_length,
table_name=table_name,
local_server=reverb_server)
rb_observer = reverb_utils.ReverbTrajectorySequenceObserver(
reverb_replay.py_client,
table_name,
sequence_length=sequence_length,
stride_length=1)
dataset = reverb_replay.as_dataset(num_parallel_calls=3,
sample_batch_size=batch_size,
num_steps=sequence_length).prefetch(3)
experience_dataset_fn = lambda: dataset
saved_model_dir = os.path.join(root_dir, learner.POLICY_SAVED_MODEL_DIR)
env_step_metric = py_metrics.EnvironmentSteps()
learning_triggers = [
triggers.PolicySavedModelTrigger(
saved_model_dir,
agent,
train_step,
interval=policy_save_interval,
metadata_metrics={triggers.ENV_STEP_METADATA_KEY:
env_step_metric}),
triggers.StepPerSecondLogTrigger(train_step, interval=100),
]
dqn_learner = learner.Learner(root_dir,
train_step,
agent,
experience_dataset_fn,
triggers=learning_triggers)
# If we haven't trained yet make sure we collect some random samples first to
# fill up the Replay Buffer with some experience.
random_policy = random_py_policy.RandomPyPolicy(
collect_env.time_step_spec(), collect_env.action_spec())
initial_collect_actor = actor.Actor(collect_env,
random_policy,
train_step,
steps_per_run=initial_collect_steps,
observers=[rb_observer])
logging.info('Doing initial collect.')
initial_collect_actor.run()
tf_collect_policy = agent.collect_policy
collect_policy = py_tf_eager_policy.PyTFEagerPolicy(tf_collect_policy,
use_tf_function=True)
collect_actor = actor.Actor(
collect_env,
collect_policy,
train_step,
steps_per_run=collect_steps_per_iteration,
observers=[rb_observer, env_step_metric],
metrics=actor.collect_metrics(10),
summary_dir=os.path.join(root_dir, learner.TRAIN_DIR),
)
tf_greedy_policy = agent.policy
greedy_policy = py_tf_eager_policy.PyTFEagerPolicy(tf_greedy_policy,
use_tf_function=True)
eval_actor = actor.Actor(
eval_env,
greedy_policy,
train_step,
episodes_per_run=eval_episodes,
metrics=actor.eval_metrics(eval_episodes),
summary_dir=os.path.join(root_dir, 'eval'),
)
if eval_interval:
logging.info('Evaluating.')
eval_actor.run_and_log()
logging.info('Training.')
for _ in range(num_iterations):
collect_actor.run()
dqn_learner.run(iterations=1)
if eval_interval and dqn_learner.train_step_numpy % eval_interval == 0:
logging.info('Evaluating.')
eval_actor.run_and_log()
rb_observer.close()
reverb_server.stop()
def train_eval(
root_dir,
env_name='Pong-v0',
# Training params
update_frequency=4, # Number of collect steps per policy update
initial_collect_steps=50000, # 50k collect steps
num_iterations=50000000, # 50M collect steps
# Taken from Rainbow as it's not specified in Mnih,15.
max_episode_frames_collect=50000, # env frames observed by the agent
max_episode_frames_eval=108000, # env frames observed by the agent
# Agent params
epsilon_greedy=0.1,
epsilon_decay_period=250000, # 1M collect steps / update_frequency
batch_size=32,
learning_rate=0.00025,
n_step_update=1,
gamma=0.99,
target_update_tau=1.0,
target_update_period=2500, # 10k collect steps / update_frequency
reward_scale_factor=1.0,
# Replay params
reverb_port=None,
replay_capacity=1000000,
# Others
policy_save_interval=250000,
eval_interval=1000,
eval_episodes=30,
debug_summaries=True):
"""Trains and evaluates DQN."""
collect_env = suite_atari.load(
env_name,
max_episode_steps=max_episode_frames_collect,
gym_env_wrappers=suite_atari.DEFAULT_ATARI_GYM_WRAPPERS_WITH_STACKING)
eval_env = suite_atari.load(
env_name,
max_episode_steps=max_episode_frames_eval,
gym_env_wrappers=suite_atari.DEFAULT_ATARI_GYM_WRAPPERS_WITH_STACKING)
unused_observation_tensor_spec, action_tensor_spec, time_step_tensor_spec = (
spec_utils.get_tensor_specs(collect_env))
train_step = train_utils.create_train_step()
num_actions = action_tensor_spec.maximum - action_tensor_spec.minimum + 1
epsilon = tf.compat.v1.train.polynomial_decay(
1.0,
train_step,
epsilon_decay_period,
end_learning_rate=epsilon_greedy)
agent = dqn_agent.DqnAgent(
time_step_tensor_spec,
action_tensor_spec,
q_network=create_q_network(num_actions),
epsilon_greedy=epsilon,
n_step_update=n_step_update,
target_update_tau=target_update_tau,
target_update_period=target_update_period,
optimizer=tf.compat.v1.train.RMSPropOptimizer(
learning_rate=learning_rate,
decay=0.95,
momentum=0.95,
epsilon=0.01,
centered=True),
td_errors_loss_fn=common.element_wise_huber_loss,
gamma=gamma,
reward_scale_factor=reward_scale_factor,
train_step_counter=train_step,
debug_summaries=debug_summaries)
table_name = 'uniform_table'
table = reverb.Table(table_name,
max_size=replay_capacity,
sampler=reverb.selectors.Uniform(),
remover=reverb.selectors.Fifo(),
rate_limiter=reverb.rate_limiters.MinSize(1))
reverb_server = reverb.Server([table], port=reverb_port)
reverb_replay = reverb_replay_buffer.ReverbReplayBuffer(
agent.collect_data_spec,
sequence_length=2,
table_name=table_name,
local_server=reverb_server)
rb_observer = reverb_utils.ReverbAddTrajectoryObserver(
reverb_replay.py_client,
table_name,
sequence_length=2,
stride_length=1)
dataset = reverb_replay.as_dataset(sample_batch_size=batch_size,
num_steps=2).prefetch(3)
experience_dataset_fn = lambda: dataset
saved_model_dir = os.path.join(root_dir, learner.POLICY_SAVED_MODEL_DIR)
env_step_metric = py_metrics.EnvironmentSteps()
learning_triggers = [
triggers.PolicySavedModelTrigger(
saved_model_dir,
agent,
train_step,
interval=policy_save_interval,
metadata_metrics={triggers.ENV_STEP_METADATA_KEY:
env_step_metric}),
triggers.StepPerSecondLogTrigger(train_step, interval=100),
]
dqn_learner = learner.Learner(root_dir,
train_step,
agent,
experience_dataset_fn,
triggers=learning_triggers)
# If we haven't trained yet make sure we collect some random samples first to
# fill up the Replay Buffer with some experience.
random_policy = random_py_policy.RandomPyPolicy(
collect_env.time_step_spec(), collect_env.action_spec())
initial_collect_actor = actor.Actor(collect_env,
random_policy,
train_step,
steps_per_run=initial_collect_steps,
observers=[rb_observer])
logging.info('Doing initial collect.')
initial_collect_actor.run()
tf_collect_policy = agent.collect_policy
collect_policy = py_tf_eager_policy.PyTFEagerPolicy(tf_collect_policy,
use_tf_function=True)
collect_actor = actor.Actor(
collect_env,
collect_policy,
train_step,
steps_per_run=update_frequency,
observers=[rb_observer, env_step_metric],
metrics=actor.collect_metrics(10),
summary_dir=os.path.join(root_dir, learner.TRAIN_DIR),
)
tf_greedy_policy = agent.policy
greedy_policy = py_tf_eager_policy.PyTFEagerPolicy(tf_greedy_policy,
use_tf_function=True)
eval_actor = actor.Actor(
eval_env,
greedy_policy,
train_step,
episodes_per_run=eval_episodes,
metrics=actor.eval_metrics(eval_episodes),
summary_dir=os.path.join(root_dir, 'eval'),
)
if eval_interval:
logging.info('Evaluating.')
eval_actor.run_and_log()
logging.info('Training.')
for _ in range(num_iterations):
collect_actor.run()
dqn_learner.run(iterations=1)
if eval_interval and dqn_learner.train_step_numpy % eval_interval == 0:
logging.info('Evaluating.')
eval_actor.run_and_log()
rb_observer.close()
reverb_server.stop()
