def test_learning(self):
pol_net = PolNet(self.env.ob_space, self.env.ac_space, h1=32, h2=32)
pol = GaussianPol(self.env.ob_space, self.env.ac_space, pol_net)
qf_net1 = QNet(self.env.ob_space, self.env.ac_space)
qf1 = DeterministicSAVfunc(self.env.ob_space, self.env.ac_space,
qf_net1)
targ_qf_net1 = QNet(self.env.ob_space, self.env.ac_space)
targ_qf_net1.load_state_dict(qf_net1.state_dict())
targ_qf1 = DeterministicSAVfunc(self.env.ob_space, self.env.ac_space,
targ_qf_net1)
qf_net2 = QNet(self.env.ob_space, self.env.ac_space)
qf2 = DeterministicSAVfunc(self.env.ob_space, self.env.ac_space,
qf_net2)
targ_qf_net2 = QNet(self.env.ob_space, self.env.ac_space)
targ_qf_net2.load_state_dict(qf_net2.state_dict())
targ_qf2 = DeterministicSAVfunc(self.env.ob_space, self.env.ac_space,
targ_qf_net2)
qfs = [qf1, qf2]
targ_qfs = [targ_qf1, targ_qf2]
log_alpha = nn.Parameter(torch.zeros(()))
sampler = EpiSampler(self.env, pol, num_parallel=1)
optim_pol = torch.optim.Adam(pol_net.parameters(), 3e-4)
optim_qf1 = torch.optim.Adam(qf_net1.parameters(), 3e-4)
optim_qf2 = torch.optim.Adam(qf_net2.parameters(), 3e-4)
optim_qfs = [optim_qf1, optim_qf2]
optim_alpha = torch.optim.Adam([log_alpha], 3e-4)
epis = sampler.sample(pol, max_steps=32)
traj = Traj()
traj.add_epis(epis)
traj = ef.add_next_obs(traj)
traj.register_epis()
result_dict = sac.train(
traj,
pol,
qfs,
targ_qfs,
log_alpha,
optim_pol,
optim_qfs,
optim_alpha,
2,
32,
0.01,
0.99,
2,
)
del sampler
on_traj.register_epis()
off_traj.add_traj(on_traj)
total_epi += on_traj.num_epi
step = on_traj.num_step
total_step += step
if args.data_parallel:
pol.dp_run = True
for qf, targ_qf in zip(qfs, targ_qfs):
qf.dp_run = True
targ_qf.dp_run = True
result_dict = sac.train(off_traj, pol, qfs, targ_qfs, log_alpha,
optim_pol, optim_qfs, optim_alpha, step,
args.batch_size, args.tau, args.gamma,
args.sampling, not args.no_reparam)
if args.data_parallel:
pol.dp_run = False
for qf, targ_qf in zip(qfs, targ_qfs):
qf.dp_run = False
targ_qf.dp_run = False
rewards = [np.sum(epi['rews']) for epi in epis]
mean_rew = np.mean(rewards)
logger.record_results(args.log,
result_dict,
score_file,
total_epi,
step,
max_grad_norm=args.max_grad_norm)
total_epi += on_traj.num_epi
step = on_traj.num_step
total_step += step
off_traj.add_traj(on_traj)
result_dict2 = sac.train(
off_traj,
pol,
[qf],
[targ_qf],
log_alpha,
optim_pol,
[optim_qf],
optim_alpha,
100,
args.batch_size,
args.tau,
args.gamma,
args.sampling,
)
result_dict1.update(result_dict2)
rewards = [np.sum(epi['rews']) for epi in epis]
mean_rew = np.mean(rewards)
logger.record_results(args.log,
result_dict1,
score_file,
