def test_model(self) -> Tuple[List[float], list]:
ray.init(logging_level=logging.INFO, ignore_reinit_error=True)
agent = DQNTrainer(self.config, env=custom_env_name)
weights = torch.load(
self.params.model_dir / "trained_model.pt",
map_location=lambda storage, loc: storage,
)
agent.set_weights({"default_policy": weights})
rewards = []
longest_screens = []
for i in range(self.params.num_testing_episodes):
screens = []
try:
logger.info("Iteration: {}", i)
state = self.env.reset()
done = False
cumulative_reward = 0
while not done:
action = agent.compute_action(state)
state, reward, done, _ = self.env.step(action)
screen = self.env.render(mode="rgb_array")
screens.append(screen)
cumulative_reward += reward
time.sleep(0.01)
logger.info("Iteration: {}, Reward: {}", i, cumulative_reward)
rewards.append(cumulative_reward)
except KeyboardInterrupt:
logger.info("Testing was interrupted")
break
if len(screens) > len(longest_screens):
longest_screens = screens
self.env.close()
ray.shutdown()
return rewards, longest_screens
def evaluate_model(args):
if args.model_path == '':
print('Cannot evaluate model, no --model_path set')
exit(1)
def get_env():
# Simulator env uses a single map, so better for evaluation/testing.
# DiscreteWrapper just converts wheel velocities to high level discrete actions.
return DiscreteWrapper(
simulator.Simulator(
map_name=args.map,
max_steps=2000,
))
# Rather than reuse the env, another one is created later because I can't
# figure out how to provide register_env with an object, th
register_env('DuckieTown-Simulator', lambda _: get_env())
trainer = DQNTrainer(
env="DuckieTown-Simulator",
config={
"framework": "torch",
"model": {
"custom_model": "image-dqn",
},
# Dueling off
"dueling": False,
# No hidden layers
"hiddens": [],
},
)
trainer.restore(args.model_path)
sim_env = get_env()
# Standard OpenAI Gym reset/action/step/render loop.
# This matches how the `enjoy_reinforcement.py` script works, see: https://git.io/J3js2
done = False
observation = sim_env.reset()
episode_reward = 0
while not done:
action = trainer.compute_action(observation)
observation, reward, done, _ = sim_env.step(action)
episode_reward += reward
sim_env.render()
print(f'Episode complete, total reward: {episode_reward}')
class DQNrl(object):
def __init__(self, env, env_config, config):
self.config = config
self.config['env_config'] = env_config
self.env = env(env_config)
self.agent = DQNTrainer(config=self.config, env=env)
def fit(self, checkpoint=None):
if checkpoint is None:
checkpoint = os.path.join(os.getcwd(), 'data/checkpoint_rl.pkl')
for idx in trange(5):
result = self.agent.train()
LOGGER.warning('result: ', result)
if (idx + 1) % 5 == 0:
LOGGER.warning('Save checkpoint at: {}'.format(idx + 1))
state = self.agent.save_to_object()
with open(checkpoint, 'wb') as fp:
pickle.dump(state, fp, protocol=pickle.HIGHEST_PROTOCOL)
return result
def predict(self, checkpoint=None):
if checkpoint is not None:
with open(checkpoint, 'rb') as fp:
state = pickle.load(fp)
self.agent.restore_from_object(state)
done = False
episode_reward = 0
obs = self.env.reset()
actions = []
while not done:
action = self.agent.compute_action(obs)
actions.append(action)
obs, reward, done, info = self.env.step(action)
episode_reward += reward
results = {'action': actions, 'reward': episode_reward}
return results
