def __init__(self):
super().__init__()
self.input_embedders_parameters = {'observation': InputEmbedderParameters()}
self.middleware_parameters = FCMiddlewareParameters()
self.heads_parameters = [PolicyHeadParameters()]
self.loss_weights = [1.0]
self.async_training = True
def __init__(self):
super().__init__()
self.input_embedders_parameters = {
'observation': InputEmbedderParameters(batchnorm=True),
'action': InputEmbedderParameters(scheme=EmbedderScheme.Shallow)
}
self.middleware_parameters = FCMiddlewareParameters()
self.heads_parameters = [VHeadParameters()]
self.loss_weights = [1.0]
self.rescale_gradient_from_head_by_factor = [1]
self.optimizer_type = 'Adam'
self.batch_size = 64
self.async_training = False
self.learning_rate = 0.001
self.create_target_network = True
self.shared_optimizer = True
self.scale_down_gradients_by_number_of_workers_for_sync_training = False
def __init__(self):
super().__init__()
self.input_embedders_parameters = {'observation': InputEmbedderParameters()}
self.middleware_parameters = FCMiddlewareParameters(scheme=MiddlewareScheme.Medium)
self.heads_parameters = [PolicyHeadParameters()]
self.loss_weights = [1.0]
self.optimizer_type = 'Adam'
self.batch_size = 32
self.replace_mse_with_huber_loss = False
self.create_target_network = False
def __init__(self):
super().__init__()
self.input_embedders_parameters = {
'observation': InputEmbedderParameters()
}
self.middleware_parameters = FCMiddlewareParameters()
self.heads_parameters = [DNDQHeadParameters()]
self.loss_weights = [1.0]
self.rescale_gradient_from_head_by_factor = [1]
self.optimizer_type = 'Adam'
def __init__(self):
super().__init__()
self.input_embedders_parameters = {'observation': InputEmbedderParameters(activation_function='tanh')}
self.middleware_parameters = FCMiddlewareParameters(activation_function='tanh')
self.heads_parameters = [VHeadParameters()]
self.loss_weights = [1.0]
self.async_training = True
self.l2_regularization = 0
self.create_target_network = True
self.batch_size = 128
def __init__(self):
super().__init__()
self.input_embedders_parameters = {
'observation': InputEmbedderParameters()
}
self.middleware_parameters = FCMiddlewareParameters()
self.heads_parameters = [VHeadParameters(), PolicyHeadParameters()]
self.loss_weights = [0.5, 1.0]
self.rescale_gradient_from_head_by_factor = [1, 1]
self.optimizer_type = 'Adam'
self.clip_gradients = 40.0
self.async_training = True
def __init__(self):
super().__init__()
self.input_embedders_parameters = {
'observation': InputEmbedderParameters()
}
self.middleware_parameters = FCMiddlewareParameters()
self.heads_parameters = [QHeadParameters()]
self.loss_weights = [1.0]
self.optimizer_type = 'Adam'
self.async_training = True
self.shared_optimizer = True
self.create_target_network = True
def __init__(self):
super().__init__()
self.input_embedders_parameters = {
'observation':
InputEmbedderParameters(activation_function='leaky_relu'),
'measurements':
InputEmbedderParameters(activation_function='leaky_relu'),
'goal':
InputEmbedderParameters(activation_function='leaky_relu')
}
self.input_embedders_parameters['observation'].scheme = [
Conv2d([32, 8, 4]),
Conv2d([64, 4, 2]),
Conv2d([64, 3, 1]),
Dense([512]),
]
self.input_embedders_parameters['measurements'].scheme = [
Dense([128]),
Dense([128]),
Dense([128]),
]
self.input_embedders_parameters['goal'].scheme = [
Dense([128]),
Dense([128]),
Dense([128]),
]
self.middleware_parameters = FCMiddlewareParameters(
activation_function='leaky_relu', scheme=MiddlewareScheme.Empty)
self.heads_parameters = [
MeasurementsPredictionHeadParameters(
activation_function='leaky_relu')
]
self.loss_weights = [1.0]
self.async_training = False
self.batch_size = 64
self.adam_optimizer_beta1 = 0.95
def __init__(self):
super().__init__()
self.input_embedders_parameters = {
'observation': InputEmbedderParameters(activation_function='tanh')
}
self.middleware_parameters = FCMiddlewareParameters(
activation_function='tanh')
self.heads_parameters = [VHeadParameters(), PPOHeadParameters()]
self.loss_weights = [1.0, 1.0]
self.rescale_gradient_from_head_by_factor = [1, 1]
self.batch_size = 64
self.optimizer_type = 'Adam'
self.clip_gradients = None
self.use_separate_networks_per_head = True
self.async_training = False
self.l2_regularization = 0
self.create_target_network = True
self.shared_optimizer = True
self.scale_down_gradients_by_number_of_workers_for_sync_training = True
schedule_params.steps_between_evaluation_periods = EnvironmentEpisodes(
16 * 50) # 50 cycles
schedule_params.evaluation_steps = EnvironmentEpisodes(10)
schedule_params.heatup_steps = EnvironmentSteps(0)
#########
# Agent #
#########
agent_params = DQNAgentParameters()
agent_params.network_wrappers['main'].learning_rate = 0.001
agent_params.network_wrappers['main'].batch_size = 128
agent_params.network_wrappers['main'].middleware_parameters.scheme = [
Dense([256])
]
agent_params.network_wrappers['main'].input_embedders_parameters = {
'state': InputEmbedderParameters(scheme=EmbedderScheme.Empty),
'desired_goal': InputEmbedderParameters(scheme=EmbedderScheme.Empty)
}
agent_params.algorithm.discount = 0.98
agent_params.algorithm.num_consecutive_playing_steps = EnvironmentEpisodes(16)
agent_params.algorithm.num_consecutive_training_steps = 40
agent_params.algorithm.num_steps_between_copying_online_weights_to_target = TrainingSteps(
40)
agent_params.algorithm.rate_for_copying_weights_to_target = 0.05
agent_params.memory.max_size = (MemoryGranularity.Transitions, 10**6)
agent_params.exploration.epsilon_schedule = ConstantSchedule(0.2)
agent_params.exploration.evaluation_epsilon = 0
agent_params.memory = EpisodicHindsightExperienceReplayParameters()
agent_params.memory.hindsight_goal_selection_method = HindsightGoalSelectionMethod.Final
agent_params.memory.hindsight_transitions_per_regular_transition = 1
#########
# Agent #
#########
agent_params = ActorCriticAgentParameters()
agent_params.algorithm.policy_gradient_rescaler = PolicyGradientRescaler.GAE
agent_params.algorithm.apply_gradients_every_x_episodes = 1
agent_params.algorithm.num_steps_between_gradient_updates = 20
agent_params.algorithm.gae_lambda = 0.96
agent_params.algorithm.beta_entropy = 0
agent_params.network_wrappers['main'].clip_gradients = 10.0
agent_params.network_wrappers['main'].learning_rate = 0.00001
# agent_params.network_wrappers['main'].batch_size = 20
agent_params.network_wrappers['main'].input_embedders_parameters = {
"screen": InputEmbedderParameters(input_rescaling={'image': 3.0})
}
agent_params.exploration = AdditiveNoiseParameters()
agent_params.exploration.noise_percentage_schedule = ConstantSchedule(0.05)
# agent_params.exploration.noise_percentage_schedule = LinearSchedule(0.4, 0.05, 100000)
agent_params.exploration.evaluation_noise_percentage = 0.05
agent_params.network_wrappers['main'].batch_size = 64
agent_params.network_wrappers['main'].optimizer_epsilon = 1e-5
agent_params.network_wrappers['main'].adam_optimizer_beta2 = 0.999
###############
# Environment #
###############
schedule_params = ScheduleParameters()
schedule_params.improve_steps = TrainingSteps(10000000000)
schedule_params.steps_between_evaluation_periods = EnvironmentEpisodes(20)
schedule_params.evaluation_steps = EnvironmentEpisodes(1)
schedule_params.heatup_steps = EnvironmentSteps(0)
#########
# Agent #
#########
agent_params = ActorCriticAgentParameters()
agent_params.algorithm.apply_gradients_every_x_episodes = 1
agent_params.algorithm.num_steps_between_gradient_updates = 20
agent_params.algorithm.beta_entropy = 0.005
agent_params.network_wrappers['main'].learning_rate = 0.00002
agent_params.network_wrappers['main'].input_embedders_parameters['observation'] = \
InputEmbedderParameters(scheme=[Dense([200])])
agent_params.network_wrappers['main'].middleware_parameters = LSTMMiddlewareParameters(scheme=MiddlewareScheme.Empty,
number_of_lstm_cells=128)
agent_params.input_filter = MujocoInputFilter()
agent_params.input_filter.add_reward_filter('rescale', RewardRescaleFilter(1/20.))
agent_params.input_filter.add_observation_filter('observation', 'normalize', ObservationNormalizationFilter())
agent_params.exploration = ContinuousEntropyParameters()
###############
# Environment #
###############
env_params = Mujoco()
env_params.level = SingleLevelSelection(mujoco_v2)
top_agent_params.memory = EpisodicHRLHindsightExperienceReplayParameters()
top_agent_params.memory.max_size = (MemoryGranularity.Transitions, 10000000)
top_agent_params.memory.hindsight_transitions_per_regular_transition = 3
top_agent_params.memory.hindsight_goal_selection_method = HindsightGoalSelectionMethod.Future
top_agent_params.memory.goals_space = goals_space
top_agent_params.algorithm.num_consecutive_playing_steps = EnvironmentEpisodes(32)
top_agent_params.algorithm.num_consecutive_training_steps = 40
top_agent_params.algorithm.num_steps_between_copying_online_weights_to_target = TrainingSteps(40)
# exploration - OU process
top_agent_params.exploration = OUProcessParameters()
top_agent_params.exploration.theta = 0.1
# actor
top_actor = top_agent_params.network_wrappers['actor']
top_actor.input_embedders_parameters = {'observation': InputEmbedderParameters(scheme=EmbedderScheme.Empty),
'desired_goal': InputEmbedderParameters(scheme=EmbedderScheme.Empty)}
top_actor.middleware_parameters.scheme = [Dense([64])] * 3
top_actor.learning_rate = 0.001
top_actor.batch_size = 4096
# critic
top_critic = top_agent_params.network_wrappers['critic']
top_critic.input_embedders_parameters = {'observation': InputEmbedderParameters(scheme=EmbedderScheme.Empty),
'action': InputEmbedderParameters(scheme=EmbedderScheme.Empty),
'desired_goal': InputEmbedderParameters(scheme=EmbedderScheme.Empty)}
top_critic.embedding_merger_type = EmbeddingMergerType.Concat
top_critic.middleware_parameters.scheme = [Dense([64])] * 3
top_critic.learning_rate = 0.001
top_critic.batch_size = 4096
schedule_params.heatup_steps = EnvironmentSteps(0)
################
# Agent Params #
################
agent_params = DDPGAgentParameters()
# actor
actor_network = agent_params.network_wrappers['actor']
actor_network.learning_rate = 0.001
actor_network.batch_size = 256
actor_network.optimizer_epsilon = 1e-08
actor_network.adam_optimizer_beta1 = 0.9
actor_network.adam_optimizer_beta2 = 0.999
actor_network.input_embedders_parameters = {
'observation': InputEmbedderParameters(scheme=EmbedderScheme.Empty),
'desired_goal': InputEmbedderParameters(scheme=EmbedderScheme.Empty)
}
actor_network.middleware_parameters = FCMiddlewareParameters(scheme=[Dense([256]), Dense([256]), Dense([256])])
actor_network.heads_parameters[0].batchnorm = False
# critic
critic_network = agent_params.network_wrappers['critic']
critic_network.learning_rate = 0.001
critic_network.batch_size = 256
critic_network.optimizer_epsilon = 1e-08
critic_network.adam_optimizer_beta1 = 0.9
critic_network.adam_optimizer_beta2 = 0.999
critic_network.input_embedders_parameters = {
'action': InputEmbedderParameters(scheme=EmbedderScheme.Empty),
'desired_goal': InputEmbedderParameters(scheme=EmbedderScheme.Empty),