config["num_sgd_iter"] = 5
config["sgd_minibatch_size"] = 8192
config["train_batch_size"] = 20000
config["use_gae"] = True
config["vf_clip_param"] = 10
config["vf_loss_coeff"] = 1
config["vf_share_layers"] = False
# For better gradient estimates in the later stages
# of the training, increase the batch sizes.
# config["sgd_minibatch_size"] = 8192 * 4
# config["train_batch_size"] = 20000 * 10
ray.init()
trainer = PPOTrainer(config=config, env=InventoryEnv)
# Use this when you want to continue from a checkpoint.
# trainer.restore(
# "/home/enes/ray_results/PPO_InventoryEnv_2020-10-06_04-31-2945lwn1wg/checkpoint_737/checkpoint-737"
# )
best_mean_reward = np.NINF
while True:
result = trainer.train()
print(pretty_print(result))
mean_reward = result.get("episode_reward_mean", np.NINF)
if mean_reward > best_mean_reward:
checkpoint = trainer.save()
print("checkpoint saved at", checkpoint)
best_mean_reward = mean_reward
iteration_reward_mean=[str(result['policy_reward_mean'][policy_name]) for policy_name in policy_graphs.keys()]
iteration_eplen_mean=str(result['episode_len_mean'])
iteration_episodes_total=str(result['episodes_total'])
savedata = ""
savedata += iteration_episodes_total # first entry is the total number of episodes
savedata += " " + iteration_eplen_mean # second entry is the mean episode length
for pc in iteration_reward_mean: # other entries are mean policy rewards
savedata += " "
savedata += pc
file_str = 'N_{0}_k_{1}_Seq_{2}_r_{3}_{4:%H_%M_%S_%d%m%Y}_Iteration_Data'.format(n_agents, signal_size, S_eq, growth_rate, start_time)
f = open(log_dir + "/" + file_str, "a")
f.write(savedata + "\n")
f.close()
trainer.save(checkpoint_folder) # save checkpoint after final iteration
# Outputs: Final episode rewards and lengths
episode_reward_final = result['episode_reward_mean']
episode_len_final = result['episode_len_mean']
print("Experiment finished successfully.")
# Create success flag file
success_file_str = 'SUCCESS_N_{0}_k_{1}_Seq_{2}_r_{3}_{4:%H_%M_%S_%d%m%Y}'.format(n_agents, signal_size, S_eq, growth_rate, start_time)
f = open("./" + success_file_str, "a")
f.close()
for (k3,v3), (k2,v2) in zip(ppo_trainer.get_policy("policy_03").get_weights().items(),
ppo_trainer.get_policy("policy_02").get_weights().items()):
P3key_P2val[k3] = v2
P2key_P1val = {} # temp storage with "policy_2" keys & "policy_1" values
for (k2,v2), (k1,v1) in zip(ppo_trainer.get_policy("policy_02").get_weights().items(),
ppo_trainer.get_policy("policy_01").get_weights().items()):
P2key_P1val[k2] = v1
#Set weights of policies
ppo_trainer.set_weights(
"policy_04":P4key_P3val, # weights or values from "policy_03" with "policy_04" keys
"policy_03":P3key_P2val, # weights or values from "policy_02" with "policy_03" keys
"policy_02":P2key_P1val, # weights or values from "policy_01" with "policy_02" keys
"policy_01":ppo_trainer.get_policy("policy_01").get_weights() # no change
})
# To check
for (k,v), (k2,v2) in zip(ppo_trainer.get_policy("policy_01").get_weights().items(),
ppo_trainer.get_policy("policy_02").get_weights().items()):
print("Check weights have been swapped")
assert (v == v2).all()
if i % 200 == 0:
# Save checkpoint
checkpoint = ppo_trainer.save()
print("checkpoint saved at", checkpoint)
def my_train_fn(config, reporter):
active_policy = None
threshold = 0.7
trainer_updates = []
# ppo_trainer = MyPPOTrainer(env='c4', config=config)
ppo_trainer = PPOTrainer(env='c4', config=config)
bandit = Exp3Bandit(len(trainable_policies))
def func(worker):
worker.sampler.policy_mapping_fn = learned_vs_random_mapping_fn
foo = 1
# ppo_trainer.workers.foreach_worker(lambda w: w.sampler.policy_mapping_fn)
ppo_trainer.workers.foreach_worker(func)
# trainable_policies = ppo_trainer.workers.foreach_worker(lambda w: w.policies_to_train)[0][:]
# trainable_policies = ppo_trainer.workers.foreach_worker(
# lambda w: w.foreach_trainable_policy(lambda p, i: (i, p))
# )
while True:
result = ppo_trainer.train()
reporter(**result)
foo = 1
timestep = result['timesteps_total']
training_iteration = result['training_iteration']
# print('\n')
# print('$$$$$$$$$$$$$$$$$$$$$$$')
# print('timestep: {:,}'.format(timestep))
# print('trainable_policies: %s' % trainable_policies)
# if active_policy is None and timestep > int(5e6):
# # if active_policy is None and timestep > int(25e4):
# active_policy = trainable_policies[0]
# # ppo_trainer.workers.foreach_worker(
# # lambda w: w.foreach_trainable_policy(lambda p, i: (i, p))
# # )
# ppo_trainer.workers.foreach_worker(
# lambda w: w.policies_to_train.remove(trainable_policies[1])
# )
# trainer_updates.append(timestep)
# elif active_policy == trainable_policies[0] \
# and result['policy_reward_mean'][trainable_policies[0]] > threshold:
# active_policy = trainable_policies[1]
# ppo_trainer.workers.foreach_worker(
# lambda w: w.policies_to_train.remove(trainable_policies[0])
# )
# ppo_trainer.workers.foreach_worker(
# lambda w: w.policies_to_train.append(trainable_policies[1])
# )
# trainer_updates.append(timestep)
# elif active_policy == trainable_policies[1] \
# and result['policy_reward_mean'][trainable_policies[1]] > threshold:
# active_policy = trainable_policies[0]
# ppo_trainer.workers.foreach_worker(
# lambda w: w.policies_to_train.remove(trainable_policies[1])
# )
# ppo_trainer.workers.foreach_worker(
# lambda w: w.policies_to_train.append(trainable_policies[0])
# )
# trainer_updates.append(timestep)
#
# print('active_policy: %s' % active_policy)
# print('worker TPs: %s' % ppo_trainer.workers.foreach_worker(lambda w: w.policies_to_train)[0])
# print('trainer updates: %s' % '\n - ' + '\n - '.join('{:,}'.format(tu) for tu in trainer_updates))
# print('$$$$$$$$$$$$$$$$$$$$$$$')
# print('\n')
# if timestep > int(1e6):
# if training_iteration >= 20:
# break
# if result['episode_reward_mean'] > 200:
# phase = 2
# elif result['episode_reward_mean'] > 100:
# phase = 1
# else:
# phase = 0
# ppo_trainer.workers.foreach_worker(
# lambda ev: ev.foreach_env(
# lambda env: env.set_phase(phase)))
state = ppo_trainer.save()
ppo_trainer.stop()
num_policies = 4
policies = {
"policy_{}".format(i):
(None, env.observation_space, env.action_space, {})
for i in range(num_policies)
}
policy_ids = list(policies.keys())
config = {
"multiagent": {
"policies": policies,
"policy_mapping_fn": (lambda agent_id: random.choice(policy_ids)),
},
"framework": "tf",
"num_workers":
60 # Adjust this according to the number of CPUs on your machine.
}
trainer = PPOTrainer(env=TicTacToe, config=config)
best_eps_len = 0
mean_reward_thold = -1
while True:
results = trainer.train()
print(pretty_print(results))
if results["episode_reward_mean"] > mean_reward_thold and results[
"episode_len_mean"] > best_eps_len:
trainer.save("ttt_model")
best_eps_len = results["episode_len_mean"]
print("--------------------- MODEL SAVED!")
if results.get("timesteps_total") > 10**7:
break
ray.shutdown()
def main():
"""main function"""
ray.init()
if 'NUM_WORKERS' in os.environ:
num_of_workers = int(os.environ['NUM_WORKERS'])
else:
num_of_workers = DEFAULT_NUM_WORKERS
if os.path.isfile(WORLDS_JSON_PATH):
with open(WORLDS_JSON_PATH) as jsonfile:
dict_worlds = json.load(jsonfile)
else:
dict_worlds = None
if os.path.isfile(MASTER_URI_JSON_PATH):
with open(MASTER_URI_JSON_PATH) as jsonfile:
list_master_uri = json.load(jsonfile)['master_uri']
else:
list_master_uri = None
config = ppo.DEFAULT_CONFIG.copy()
config.update({
'env_config': {
'dict_worlds': dict_worlds,
'list_master_uri': list_master_uri, # 병렬 시뮬레이션 수행 스크립트 사용할 때
# 'list_master_uri': None, # 기본 ROS 마스터 URI로 시뮬레이션 1개만 돌릴 떄
'use_random_heading': True,
'result_csv': RESULT_CSV_NAME,
'num_workers': num_of_workers
},
'num_gpus': 0, # 사용하는 GPU 수에 맞게 설정
'num_workers': num_of_workers,
'train_batch_size': 10000,
'batch_mode': 'complete_episodes'
})
register_env('gazebo', lambda cfg: DroneSimEnv(cfg))
trainer = PPOTrainer(env='gazebo', config=config)
num_iteration = 10000
latest_index = 0
checkpoint_path = None
checkpoint_name = None
for name in [
name for name in os.listdir(CHECKPOINT_PATH_BASE)
if 'checkpoint_' in name
]:
index = int(name.replace('checkpoint_', ''))
if index > latest_index:
latest_index = index
checkpoint_path = CHECKPOINT_PATH_BASE + name + '/'
checkpoint_name = 'checkpoint-' + str(index)
if checkpoint_name:
print('Running using (', checkpoint_name, ').')
trainer.restore(checkpoint_path + checkpoint_name)
print(checkpoint_name, '==========================================')
## goal/collision data init
success_cnt = 0
goal_rate_filename = 'goal_rate_{}.csv'.format(
WORLDS_JSON_NAME.replace('curriculum/', '').replace('.json', ''))
if not os.path.isfile(goal_rate_filename):
with open(goal_rate_filename, 'w') as goal_rate_logfile:
goal_rate_logfile.write("training_iteration,goal_rate\n")
while True:
## goal/collision data create
with open(RESULT_CSV_NAME, 'w+') as file_:
pass
result = trainer.train()
print(pretty_print(result))
# 복구용 체크포인트는 5 iteration 마다 저장
if result['training_iteration'] % 5 == 0:
checkpoint = trainer.save(CHECKPOINT_PATH_BASE)
print("checkpoint saved at", checkpoint)
# 결과 확인용 체크포인트는 100 iteration 마다 저장
if result['training_iteration'] % 100 == 0:
checkpoint = trainer.save()
print("checkpoint saved at", checkpoint)
## goal/collision data read
with open(RESULT_CSV_NAME, 'r') as file_:
episodes_raw = file_.read()
goal_list = episodes_raw.split(',')
goal_cnt = goal_list.count('1')
if goal_cnt == 0:
goal_ratio = 0
else:
goal_ratio = goal_cnt / (goal_cnt + goal_list.count('0'))
print('goal rate:', goal_ratio)
with open(goal_rate_filename, 'a') as goal_rate_logfile:
goal_rate_logfile.write(
str(result['training_iteration']) + ',' + str(goal_ratio) +
'\n')
if goal_ratio >= 0.95:
success_cnt += 1
print('success in raw:', success_cnt)
else:
success_cnt = 0
if success_cnt >= 5 and EXIT_ON_SUCCESS:
if result['training_iteration'] % 5 != 0:
checkpoint = trainer.save(CHECKPOINT_PATH_BASE)
print("checkpoint saved at", checkpoint)
break
if result['training_iteration'] >= num_iteration:
break
print('PPO training is done.')
