agent_params.memory.max_size = (MemoryGranularity.Transitions, 10**5)
###############
# Environment #
###############
DeepRacerInputFilter = InputFilter(is_a_reference_filter=True)
DeepRacerInputFilter.add_observation_filter('observation', 'to_grayscale',
ObservationRGBToYFilter())
DeepRacerInputFilter.add_observation_filter('observation', 'to_uint8',
ObservationToUInt8Filter(0, 255))
DeepRacerInputFilter.add_observation_filter('observation', 'stacking',
ObservationStackingFilter(1))
env_params = GymVectorEnvironment()
env_params.default_input_filter = DeepRacerInputFilter
env_params.level = 'RoboMaker-DeepRacer-v0'
vis_params = VisualizationParameters()
vis_params.dump_mp4 = False
vis_params.tensorboard = True
vis_params.print_networks_summary = True
########
# Test #
########
preset_validation_params = PresetValidationParameters()
preset_validation_params.test = True
preset_validation_params.min_reward_threshold = 400
preset_validation_params.max_episodes_to_achieve_reward = 1000
graph_manager = BasicRLGraphManager(
def get_graph_manager(**hp_dict):
####################
# All Default Parameters #
####################
params = {}
params["batch_size"] = int(hp_dict.get("batch_size", 64))
params["num_epochs"] = int(hp_dict.get("num_epochs", 10))
params["stack_size"] = int(hp_dict.get("stack_size", 1))
params["lr"] = float(hp_dict.get("lr", 0.0003))
params["exploration_type"] = (hp_dict.get("exploration_type",
"huber")).lower()
params["e_greedy_value"] = float(hp_dict.get("e_greedy_value", .05))
params["epsilon_steps"] = int(hp_dict.get("epsilon_steps", 10000))
params["beta_entropy"] = float(hp_dict.get("beta_entropy", .01))
params["discount_factor"] = float(hp_dict.get("discount_factor", .999))
params["loss_type"] = hp_dict.get("loss_type",
"Mean squared error").lower()
params["num_episodes_between_training"] = int(
hp_dict.get("num_episodes_between_training", 20))
params["term_cond_max_episodes"] = int(
hp_dict.get("term_cond_max_episodes", 100000))
params["term_cond_avg_score"] = float(
hp_dict.get("term_cond_avg_score", 100000))
params_json = json.dumps(params, indent=2, sort_keys=True)
print("Using the following hyper-parameters", params_json, sep='\n')
####################
# Graph Scheduling #
####################
schedule_params = ScheduleParameters()
schedule_params.improve_steps = TrainingSteps(
params["term_cond_max_episodes"])
schedule_params.steps_between_evaluation_periods = EnvironmentEpisodes(40)
schedule_params.evaluation_steps = EnvironmentEpisodes(5)
schedule_params.heatup_steps = EnvironmentSteps(0)
#########
# Agent #
#########
agent_params = ClippedPPOAgentParameters()
agent_params.network_wrappers['main'].learning_rate = params["lr"]
agent_params.network_wrappers['main'].input_embedders_parameters[
'observation'].activation_function = 'relu'
agent_params.network_wrappers[
'main'].middleware_parameters.activation_function = 'relu'
agent_params.network_wrappers['main'].batch_size = params["batch_size"]
agent_params.network_wrappers['main'].optimizer_epsilon = 1e-5
agent_params.network_wrappers['main'].adam_optimizer_beta2 = 0.999
if params["loss_type"] == "huber":
agent_params.network_wrappers[
'main'].replace_mse_with_huber_loss = True
agent_params.algorithm.clip_likelihood_ratio_using_epsilon = 0.2
agent_params.algorithm.clipping_decay_schedule = LinearSchedule(
1.0, 0, 1000000)
agent_params.algorithm.beta_entropy = params["beta_entropy"]
agent_params.algorithm.gae_lambda = 0.95
agent_params.algorithm.discount = params["discount_factor"]
agent_params.algorithm.optimization_epochs = params["num_epochs"]
agent_params.algorithm.estimate_state_value_using_gae = True
agent_params.algorithm.num_steps_between_copying_online_weights_to_target = EnvironmentEpisodes(
params["num_episodes_between_training"])
agent_params.algorithm.num_consecutive_playing_steps = EnvironmentEpisodes(
params["num_episodes_between_training"])
agent_params.algorithm.distributed_coach_synchronization_type = DistributedCoachSynchronizationType.SYNC
if params["exploration_type"] == "categorical":
agent_params.exploration = CategoricalParameters()
else:
agent_params.exploration = EGreedyParameters()
agent_params.exploration.epsilon_schedule = LinearSchedule(
1.0, params["e_greedy_value"], params["epsilon_steps"])
###############
# Environment #
###############
SilverstoneInputFilter = InputFilter(is_a_reference_filter=True)
SilverstoneInputFilter.add_observation_filter('observation',
'to_grayscale',
ObservationRGBToYFilter())
SilverstoneInputFilter.add_observation_filter(
'observation', 'to_uint8', ObservationToUInt8Filter(0, 255))
SilverstoneInputFilter.add_observation_filter(
'observation', 'stacking',
ObservationStackingFilter(params["stack_size"]))
env_params = GymVectorEnvironment()
env_params.default_input_filter = SilverstoneInputFilter
env_params.level = 'SilverstoneRacetrack-Discrete-v0'
vis_params = VisualizationParameters()
vis_params.dump_mp4 = False
########
# Test #
########
preset_validation_params = PresetValidationParameters()
preset_validation_params.test = True
preset_validation_params.min_reward_threshold = 400
preset_validation_params.max_episodes_to_achieve_reward = 1000
graph_manager = BasicRLGraphManager(
agent_params=agent_params,
env_params=env_params,
schedule_params=schedule_params,
vis_params=vis_params,
preset_validation_params=preset_validation_params)
return graph_manager, params_json
agent_params.exploration = CategoricalParameters()
###############
# Environment #
###############
DeepRacerInputFilter = InputFilter(is_a_reference_filter=True)
DeepRacerInputFilter.add_observation_filter('observation', 'to_grayscale',
ObservationRGBToYFilter())
DeepRacerInputFilter.add_observation_filter('observation', 'to_uint8',
ObservationToUInt8Filter(0, 255))
DeepRacerInputFilter.add_observation_filter('observation', 'stacking',
ObservationStackingFilter(1))
env_params = GymVectorEnvironment()
env_params.default_input_filter = DeepRacerInputFilter
env_params.level = 'SageMaker-DeepRacer-Discrete-v0'
vis_params = VisualizationParameters()
vis_params.dump_mp4 = False
########
# Test #
########
preset_validation_params = PresetValidationParameters()
preset_validation_params.test = True
preset_validation_params.min_reward_threshold = 4000
preset_validation_params.max_episodes_to_achieve_reward = 20
graph_manager = BasicRLGraphManager(
agent_params=agent_params,
env_params=env_params,
agent_params.algorithm.beta_entropy = 0
agent_params.algorithm.gae_lambda = 0.95
agent_params.algorithm.discount = 1
# How many epochs to train the network using supervised methods
agent_params.algorithm.optimization_epochs = 10
agent_params.algorithm.estimate_state_value_using_gae = True
# Distributed Coach synchronization type.
agent_params.algorithm.distributed_coach_synchronization_type = DistributedCoachSynchronizationType.SYNC
agent_params.pre_network_filter = InputFilter()
agent_params.pre_network_filter.add_observation_filter(
'observation', 'normalize_observation',
ObservationNormalizationFilter(name='normalize_observation'))
###############
# Environment #
###############
env_params = GymVectorEnvironment()
env_params.level = './environment.py:DistillerWrapperEnvironment'
vis_params = VisualizationParameters()
vis_params.dump_parameters_documentation = False
vis_params.render = True
vis_params.native_rendering = True
vis_params.dump_signals_to_csv_every_x_episodes = 1
graph_manager = BasicRLGraphManager(agent_params=agent_params,
env_params=env_params,
schedule_params=schedule_params,
vis_params=vis_params)
agent_params.algorithm.estimate_state_value_using_gae = True
agent_params.algorithm.num_steps_between_copying_online_weights_to_target = EnvironmentEpisodes(20)
agent_params.algorithm.num_consecutive_playing_steps = EnvironmentEpisodes(20)
agent_params.exploration = CategoricalParameters()
###############
# Environment #
###############
turtlebot3_input_filter = InputFilter(is_a_reference_filter=True)
turtlebot3_input_filter.add_observation_filter('observation', 'to_grayscale', ObservationRGBToYFilter())
turtlebot3_input_filter.add_observation_filter('observation', 'to_uint8', ObservationToUInt8Filter(0, 255))
turtlebot3_input_filter.add_observation_filter('observation', 'stacking', ObservationStackingFilter(1))
env_params = GymVectorEnvironment()
env_params.default_input_filter = turtlebot3_input_filter
env_params.level = 'SageMaker-TurtleBot3-Discrete-v0'
vis_params = VisualizationParameters()
vis_params.dump_mp4 = False
########
# Test #
########
preset_validation_params = PresetValidationParameters()
preset_validation_params.test = True
preset_validation_params.min_reward_threshold = 400
preset_validation_params.max_episodes_to_achieve_reward = 1000
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
preset_validation_params=preset_validation_params)
agent_params.network_wrappers['critic'].middleware_parameters.scheme = [
Dense(64)
]
agent_params.input_filter = InputFilter()
agent_params.input_filter.add_observation_filter(
'observation', 'normalize', ObservationNormalizationFilter())
# Distributed Coach synchronization type.
agent_params.algorithm.distributed_coach_synchronization_type = DistributedCoachSynchronizationType.SYNC
###############
# Environment #
###############
env_params = GymVectorEnvironment()
env_params.level = '../automated_deep_compression/ADC.py:DistillerWrapperEnvironment'
vis_params = VisualizationParameters()
vis_params.dump_parameters_documentation = False
vis_params.render = True
vis_params.native_rendering = True
vis_params.dump_signals_to_csv_every_x_episodes = 1
graph_manager = BasicRLGraphManager(agent_params=agent_params,
env_params=env_params,
schedule_params=schedule_params,
vis_params=vis_params)
########
# Test #
########
# preset_validation_params = PresetValidationParameters()
agent_params.memory.max_size = (MemoryGranularity.Transitions, 10**5)
###############
# Environment #
###############
DeepRotorInputFilter = InputFilter(is_a_reference_filter=True)
DeepRotorInputFilter.add_observation_filter('observation', 'to_grayscale',
ObservationRGBToYFilter())
DeepRotorInputFilter.add_observation_filter('observation', 'to_uint8',
ObservationToUInt8Filter(0, 255))
DeepRotorInputFilter.add_observation_filter('observation', 'stacking',
ObservationStackingFilter(1))
env_params = GymVectorEnvironment()
env_params.default_input_filter = DeepRotorInputFilter
env_params.level = 'RoboMaker-DeepRotor-v0'
vis_params = VisualizationParameters()
vis_params.dump_mp4 = False
########
# Test #
########
preset_validation_params = PresetValidationParameters()
preset_validation_params.test = True
preset_validation_params.min_reward_threshold = 400
preset_validation_params.max_episodes_to_achieve_reward = 1000
graph_manager = BasicRLGraphManager(
agent_params=agent_params,
env_params=env_params,
agent_params.exploration = CategoricalParameters()
###############
# Environment #
###############
turtlebot3_input_filter = InputFilter(is_a_reference_filter=True)
turtlebot3_input_filter.add_observation_filter('observation', 'to_grayscale',
ObservationRGBToYFilter())
turtlebot3_input_filter.add_observation_filter(
'observation', 'to_uint8', ObservationToUInt8Filter(0, 255))
turtlebot3_input_filter.add_observation_filter('observation', 'stacking',
ObservationStackingFilter(1))
env_params = GymVectorEnvironment()
env_params.default_input_filter = turtlebot3_input_filter
env_params.level = 'SageMaker-TurtleBot3-Discrete-v0'
vis_params = VisualizationParameters()
vis_params.dump_mp4 = False
########
# Test #
########
preset_validation_params = PresetValidationParameters()
preset_validation_params.test = True
preset_validation_params.min_reward_threshold = 400
preset_validation_params.max_episodes_to_achieve_reward = 1000
graph_manager = BasicRLGraphManager(
agent_params=agent_params,
env_params=env_params,
def get_graph_manager(**hp_dict):
####################
# All Default Parameters #
####################
params = {}
params["batch_size"] = int(hp_dict.get("batch_size", 64))
params["num_epochs"] = int(hp_dict.get("num_epochs", 10))
params["stack_size"] = int(hp_dict.get("stack_size", 1))
params["lr"] = float(hp_dict.get("lr", 0.0003))
params["exploration_type"] = (hp_dict.get("exploration_type", "huber")).lower()
params["e_greedy_value"] = float(hp_dict.get("e_greedy_value", .05))
params["epsilon_steps"] = int(hp_dict.get("epsilon_steps", 10000))
params["beta_entropy"] = float(hp_dict.get("beta_entropy", .01))
params["discount_factor"] = float(hp_dict.get("discount_factor", .999))
params["loss_type"] = hp_dict.get("loss_type", "Mean squared error").lower()
params["num_episodes_between_training"] = int(hp_dict.get("num_episodes_between_training", 20))
params["term_cond_max_episodes"] = int(hp_dict.get("term_cond_max_episodes", 100000))
params["term_cond_avg_score"] = float(hp_dict.get("term_cond_avg_score", 100000))
params_json = json.dumps(params, indent=2, sort_keys=True)
print("Using the following hyper-parameters", params_json, sep='\n')
####################
# Graph Scheduling #
####################
schedule_params = ScheduleParameters()
schedule_params.improve_steps = TrainingSteps(params["term_cond_max_episodes"])
schedule_params.steps_between_evaluation_periods = EnvironmentEpisodes(40)
schedule_params.evaluation_steps = EnvironmentEpisodes(5)
schedule_params.heatup_steps = EnvironmentSteps(0)
#########
# Agent #
#########
agent_params = ClippedPPOAgentParameters()
agent_params.network_wrappers['main'].learning_rate = params["lr"]
agent_params.network_wrappers['main'].input_embedders_parameters['observation'].activation_function = 'relu'
agent_params.network_wrappers['main'].middleware_parameters.activation_function = 'relu'
agent_params.network_wrappers['main'].batch_size = params["batch_size"]
agent_params.network_wrappers['main'].optimizer_epsilon = 1e-5
agent_params.network_wrappers['main'].adam_optimizer_beta2 = 0.999
if params["loss_type"] == "huber":
agent_params.network_wrappers['main'].replace_mse_with_huber_loss = True
agent_params.algorithm.clip_likelihood_ratio_using_epsilon = 0.2
agent_params.algorithm.clipping_decay_schedule = LinearSchedule(1.0, 0, 1000000)
agent_params.algorithm.beta_entropy = params["beta_entropy"]
agent_params.algorithm.gae_lambda = 0.95
agent_params.algorithm.discount = params["discount_factor"]
agent_params.algorithm.optimization_epochs = params["num_epochs"]
agent_params.algorithm.estimate_state_value_using_gae = True
agent_params.algorithm.num_steps_between_copying_online_weights_to_target = EnvironmentEpisodes(
params["num_episodes_between_training"])
agent_params.algorithm.num_consecutive_playing_steps = EnvironmentEpisodes(params["num_episodes_between_training"])
agent_params.algorithm.distributed_coach_synchronization_type = DistributedCoachSynchronizationType.SYNC
if params["exploration_type"] == "categorical":
agent_params.exploration = CategoricalParameters()
else:
agent_params.exploration = EGreedyParameters()
agent_params.exploration.epsilon_schedule = LinearSchedule(1.0,
params["e_greedy_value"],
params["epsilon_steps"])
###############
# Environment #
###############
SilverstoneInputFilter = InputFilter(is_a_reference_filter=True)
SilverstoneInputFilter.add_observation_filter('observation', 'to_grayscale', ObservationRGBToYFilter())
SilverstoneInputFilter.add_observation_filter('observation', 'to_uint8', ObservationToUInt8Filter(0, 255))
SilverstoneInputFilter.add_observation_filter('observation', 'stacking',
ObservationStackingFilter(params["stack_size"]))
env_params = GymVectorEnvironment()
env_params.default_input_filter = SilverstoneInputFilter
env_params.level = 'SilverstoneRacetrack-Discrete-v0'
vis_params = VisualizationParameters()
vis_params.dump_mp4 = False
########
# Test #
########
preset_validation_params = PresetValidationParameters()
preset_validation_params.test = True
preset_validation_params.min_reward_threshold = 400
preset_validation_params.max_episodes_to_achieve_reward = 1000
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
preset_validation_params=preset_validation_params)
return graph_manager, params_json
agent_params.memory.max_size = (MemoryGranularity.Transitions, 10**5)
###############
# Environment #
###############
turtlebot3_input_filter = InputFilter(is_a_reference_filter=True)
turtlebot3_input_filter.add_observation_filter('observation', 'to_grayscale',
ObservationRGBToYFilter())
turtlebot3_input_filter.add_observation_filter(
'observation', 'to_uint8', ObservationToUInt8Filter(0, 255))
turtlebot3_input_filter.add_observation_filter('observation', 'stacking',
ObservationStackingFilter(1))
env_params = GymVectorEnvironment()
env_params.default_input_filter = turtlebot3_input_filter
env_params.level = 'RoboMaker-ObjectTracker-v0'
vis_params = VisualizationParameters()
vis_params.dump_mp4 = False
########
# Test #
########
preset_validation_params = PresetValidationParameters()
preset_validation_params.test = True
preset_validation_params.min_reward_threshold = 400
preset_validation_params.max_episodes_to_achieve_reward = 1000
graph_manager = BasicRLGraphManager(
agent_params=agent_params,
env_params=env_params,
# agent_params.network_wrappers['actor'].clip_gradients = 100
agent_params.algorithm.rate_for_copying_weights_to_target = 0.01 # Tau pg. 11
agent_params.algorithm.num_steps_between_copying_online_weights_to_target = EnvironmentSteps(1)
agent_params.algorithm.heatup_using_network_decisions = True
agent_params.algorithm.discount = 1
# Replay buffer size
agent_params.memory.max_size = (MemoryGranularity.Transitions, 2000)
agent_params.exploration = TruncatedNormalParameters()
agent_params.exploration.noise_percentage_schedule = PieceWiseSchedule([
(ConstantSchedule(0.5), EnvironmentSteps(100*steps_per_episode)),
(ExponentialSchedule(0.5, 0, 0.996), EnvironmentSteps(300*steps_per_episode))])
agent_params.algorithm.num_consecutive_playing_steps = EnvironmentSteps(1)
agent_params.network_wrappers['actor'].learning_rate = 0.0001
agent_params.network_wrappers['critic'].learning_rate = 0.001
##############################
# Gym #
##############################
env_params = GymVectorEnvironment()
env_params.level = '../automated_deep_compression/ADC.py:CNNEnvironment'
vis_params = VisualizationParameters()
vis_params.dump_parameters_documentation = False
vis_params.render = True
vis_params.native_rendering = True
vis_params.dump_signals_to_csv_every_x_episodes = 1
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params)
def get_graph_manager(**hp_dict):
####################
# All Default Parameters #
####################
params = {}
params["batch_size"] = int(hp_dict.get("batch_size", 64))
params["num_epochs"] = int(hp_dict.get("num_epochs", 10))
params["stack_size"] = int(hp_dict.get("stack_size", 1))
params["lr"] = float(hp_dict.get("lr", 0.0003))
params["lr_decay_rate"] = float(hp_dict.get("lr_decay_rate", 0))
params["lr_decay_steps"] = float(hp_dict.get("lr_decay_steps", 0))
params["exploration_type"] = (hp_dict.get("exploration_type", "categorical")).lower()
params["e_greedy_value"] = float(hp_dict.get("e_greedy_value", .05))
params["epsilon_steps"] = int(hp_dict.get("epsilon_steps", 10000))
params["beta_entropy"] = float(hp_dict.get("beta_entropy", .01))
params["discount_factor"] = float(hp_dict.get("discount_factor", .999))
params["loss_type"] = hp_dict.get("loss_type", "Mean squared error").lower()
params["num_episodes_between_training"] = int(hp_dict.get("num_episodes_between_training", 20))
params["term_cond_max_episodes"] = int(hp_dict.get("term_cond_max_episodes", 100000))
params["term_cond_avg_score"] = float(hp_dict.get("term_cond_avg_score", 100000))
params["tensorboard"] = hp_dict.get("tensorboard", False)
params["dump_mp4"] = hp_dict.get("dump_mp4", False)
params["dump_gifs"] = hp_dict.get("dump_gifs", False)
params_json = json.dumps(params, indent=2, sort_keys=True)
print("Using the following hyper-parameters", params_json, sep='\n')
####################
# Graph Scheduling #
####################
schedule_params = ScheduleParameters()
schedule_params.improve_steps = TrainingSteps(params["term_cond_max_episodes"])
schedule_params.steps_between_evaluation_periods = EnvironmentEpisodes(40)
schedule_params.evaluation_steps = EnvironmentEpisodes(5)
schedule_params.heatup_steps = EnvironmentSteps(0)
#########
# Agent #
#########
agent_params = ClippedPPOAgentParameters()
agent_params.network_wrappers['main'].learning_rate = params["lr"]
agent_params.network_wrappers['main'].learning_rate_decay_rate = params["lr_decay_rate"]
agent_params.network_wrappers['main'].learning_rate_decay_steps = params["lr_decay_steps"]
agent_params.network_wrappers['main'].input_embedders_parameters['observation'].activation_function = 'relu'
# Replace the default CNN with single layer Conv2d(32, 3, 1)
# agent_params.network_wrappers['main'].input_embedders_parameters['observation'].scheme = EmbedderScheme.Shallow
# agent_params.network_wrappers['main'].input_embedders_parameters['observation'].dropout_rate = 0.3
agent_params.network_wrappers['main'].middleware_parameters.activation_function = 'relu'
# agent_params.network_wrappers['main'].middleware_parameters.scheme = MiddlewareScheme.Shallow
# agent_params.network_wrappers['main'].middleware_parameters.dropout_rate = 0.3
agent_params.network_wrappers['main'].batch_size = params["batch_size"]
agent_params.network_wrappers['main'].optimizer_epsilon = 1e-5
agent_params.network_wrappers['main'].adam_optimizer_beta2 = 0.999
# agent_params.network_wrappers['main'].l2_regularization = 2e-5
if params["loss_type"] == "huber":
agent_params.network_wrappers['main'].replace_mse_with_huber_loss = True
agent_params.algorithm.clip_likelihood_ratio_using_epsilon = 0.2
agent_params.algorithm.clipping_decay_schedule = LinearSchedule(1.0, 0, 1000000)
agent_params.algorithm.beta_entropy = params["beta_entropy"]
agent_params.algorithm.gae_lambda = 0.95
agent_params.algorithm.discount = params["discount_factor"]
agent_params.algorithm.optimization_epochs = params["num_epochs"]
agent_params.algorithm.estimate_state_value_using_gae = True
agent_params.algorithm.num_steps_between_copying_online_weights_to_target = EnvironmentEpisodes(
params["num_episodes_between_training"])
agent_params.algorithm.num_consecutive_playing_steps = EnvironmentEpisodes(params["num_episodes_between_training"])
agent_params.algorithm.distributed_coach_synchronization_type = DistributedCoachSynchronizationType.SYNC
if params["exploration_type"] == "categorical":
agent_params.exploration = CategoricalParameters()
else:
agent_params.exploration = EGreedyParameters()
agent_params.exploration.epsilon_schedule = LinearSchedule(1.0,
params["e_greedy_value"],
params["epsilon_steps"])
###############
# Environment #
###############
DeepRacerInputFilter = InputFilter(is_a_reference_filter=True)
# Add an observation image pertubation for many aspects
# DeepRacerInputFilter.add_observation_filter('observation', 'perturb_color', ObservationColorPerturbation(0.2))
# Rescale to much smaller input when using shallow networks to avoid OOM
# DeepRacerInputFilter.add_observation_filter('observation', 'rescaling',
# ObservationRescaleToSizeFilter(ImageObservationSpace(np.array([84, 84, 3]),
# high=255)))
DeepRacerInputFilter.add_observation_filter('observation', 'to_grayscale', ObservationRGBToYFilter())
DeepRacerInputFilter.add_observation_filter('observation', 'to_uint8', ObservationToUInt8Filter(0, 255))
DeepRacerInputFilter.add_observation_filter('observation', 'stacking',
ObservationStackingFilter(params["stack_size"]))
env_params = GymVectorEnvironment()
env_params.default_input_filter = DeepRacerInputFilter
env_params.level = 'DeepRacerRacetrackCustomActionSpaceEnv-v0'
vis_params = VisualizationParameters()
vis_params.tensorboard = params["tensorboard"]
vis_params.dump_mp4 = params["dump_mp4"]
vis_params.dump_gifs = params["dump_gifs"]
# AlwaysDumpFilter, MaxDumpFilter, EveryNEpisodesDumpFilter, SelectedPhaseOnlyDumpFilter
vis_params.video_dump_filters = [AlwaysDumpFilter()]
########
# Test #
########
preset_validation_params = PresetValidationParameters()
preset_validation_params.test = True
preset_validation_params.min_reward_threshold = 400
preset_validation_params.max_episodes_to_achieve_reward = 10000
graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
schedule_params=schedule_params, vis_params=vis_params,
preset_validation_params=preset_validation_params)
return graph_manager, params_json
agent_params.algorithm.discount = 0.90
agent_params.algorithm.optimization_epochs = 5
agent_params.algorithm.estimate_state_value_using_gae = True
agent_params.algorithm.num_steps_between_copying_online_weights_to_target = EnvironmentEpisodes(
10)
agent_params.algorithm.num_consecutive_playing_steps = EnvironmentEpisodes(10)
agent_params.exploration = CategoricalParameters()
agent_params.memory.max_size = (MemoryGranularity.Transitions, 10**5)
###############
# Environment #
###############
Training_Ground_Filter = InputFilter(is_a_reference_filter=True)
env_params = GymVectorEnvironment()
env_params.level = 'Mars-v1'
vis_params = VisualizationParameters()
vis_params.dump_csv = True
vis_params.dump_signals_to_csv_every_x_episodes = 1
vis_params.tensorboard = True
vis_params.print_networks_summary = True
########
# Test #
########
preset_validation_params = PresetValidationParameters()
preset_validation_params.test = True
preset_validation_params.min_reward_threshold = 2000
preset_validation_params.max_episodes_to_achieve_reward = 1000
agent_params.algorithm.discount = 0.999
agent_params.algorithm.optimization_epochs = 10
agent_params.algorithm.estimate_state_value_using_gae = True
agent_params.algorithm.num_steps_between_copying_online_weights_to_target = EnvironmentEpisodes(
20)
agent_params.algorithm.num_consecutive_playing_steps = EnvironmentEpisodes(20)
agent_params.exploration = CategoricalParameters()
agent_params.memory.max_size = (MemoryGranularity.Transitions, 10**5)
###############
# Environment #
###############
MeiroRunnerFilter = InputFilter(is_a_reference_filter=True)
env_params = GymVectorEnvironment()
env_params.level = 'RoboMaker-MeiroRunner-v0'
vis_params = VisualizationParameters()
vis_params.dump_mp4 = False
########
# Test #
########
preset_validation_params = PresetValidationParameters()
preset_validation_params.test = True
preset_validation_params.min_reward_threshold = 400
preset_validation_params.max_episodes_to_achieve_reward = 1000
graph_manager = BasicRLGraphManager(
agent_params=agent_params,
env_params=env_params,
# NN configuration agent_params.network_wrappers['main'].learning_rate = 0.00025 agent_params.network_wrappers['main'].replace_mse_with_huber_loss = False # ER size agent_params.memory.max_size = (MemoryGranularity.Transitions, 40000) # E-Greedy schedule agent_params.exploration.epsilon_schedule = LinearSchedule(1.0, 0.01, 10000) ################ # Environment # ################ env_params = GymVectorEnvironment() env_params.level = "env.gym_super_mario_bros.smb_env:SuperMarioBrosEnv" ################# # Visualization # ################# vis_params = VisualizationParameters() vis_params.dump_gifs = True ######## # Test # ######## preset_validation_params = PresetValidationParameters() preset_validation_params.test = True preset_validation_params.min_reward_threshold = 150 preset_validation_params.max_episodes_to_achieve_reward = 250
###############
# Environment #
###############
SilverstoneInputFilter = InputFilter(is_a_reference_filter=True)
SilverstoneInputFilter.add_observation_filter('observation', 'to_grayscale',
ObservationRGBToYFilter())
SilverstoneInputFilter.add_observation_filter('observation', 'to_uint8',
ObservationToUInt8Filter(0, 255))
SilverstoneInputFilter.add_observation_filter('observation', 'stacking',
ObservationStackingFilter(1))
env_params = GymVectorEnvironment()
env_params.default_input_filter = SilverstoneInputFilter
env_params.level = 'DeepRacerRacetrackCustomActionSpaceEnv-v0'
vis_params = VisualizationParameters()
vis_params.dump_mp4 = False
########
# Test #
########
preset_validation_params = PresetValidationParameters()
preset_validation_params.test = True
preset_validation_params.min_reward_threshold = 400
preset_validation_params.max_episodes_to_achieve_reward = 1000
graph_manager = BasicRLGraphManager(
agent_params=agent_params,
env_params=env_params,
agent_params.algorithm.optimization_epochs = 10 agent_params.algorithm.estimate_state_value_using_gae = True agent_params.algorithm.num_steps_between_copying_online_weights_to_target = EnvironmentEpisodes(20) agent_params.algorithm.num_consecutive_playing_steps = EnvironmentEpisodes(20) agent_params.exploration = CategoricalParameters() agent_params.memory.max_size = (MemoryGranularity.Transitions, 10**5) ############### # Environment # ############### Training_Ground_Filter = InputFilter(is_a_reference_filter=True) env_params = GymVectorEnvironment() env_params.level = 'Rover-TrainingGrounds-v2' vis_params = VisualizationParameters() vis_params.dump_csv = True vis_params.dump_signals_to_csv_every_x_episodes = 1 vis_params.tensorboard = True ######## # Test # ######## preset_validation_params = PresetValidationParameters() preset_validation_params.test = True preset_validation_params.min_reward_threshold = 2000 preset_validation_params.max_episodes_to_achieve_reward = 1000