results = tune.run(args.run,
config=config,
stop=stop,
verbose=2,
checkpoint_at_end=True)
if args.as_test:
check_learning_achieved(results, args.stop_reward)
checkpoints = results.get_trial_checkpoints_paths(
trial=results.get_best_trial("episode_reward_mean", mode="max"),
metric="episode_reward_mean",
)
checkpoint_path = checkpoints[0][0]
trainer = PPO(config)
trainer.restore(checkpoint_path)
# Inference loop.
env = StatelessCartPole()
# Run manual inference loop for n episodes.
for _ in range(10):
episode_reward = 0.0
reward = 0.0
action = 0
done = False
obs = env.reset()
while not done:
# Create a dummy action using the same observation n times,
# as well as dummy prev-n-actions and prev-n-rewards.
self.cur_pos += 1
# Set `done` flag when end of corridor (goal) reached.
done = self.cur_pos >= self.end_pos
# +1 when goal reached, otherwise -1.
reward = 1.0 if done else -0.1
return [self.cur_pos], reward, done, {}
# Create an RLlib Trainer instance.
trainer = PPO(
config={
# Env class to use (here: our gym.Env sub-class from above).
"env": SimpleCorridor,
# Config dict to be passed to our custom env's constructor.
"env_config": {
# Use corridor with 20 fields (including S and G).
"corridor_length": 20
},
# Parallelize environment rollouts.
"num_workers": 3,
}
)
# Train for n iterations and report results (mean episode rewards).
# Since we have to move at least 19 times in the env to reach the goal and
# each move gives us -0.1 reward (except the last move at the end: +1.0),
# we can expect to reach an optimal episode reward of -0.1*18 + 1.0 = -0.8
for i in range(5):
results = trainer.train()
print(f"Iter: {i}; avg. reward={results['episode_reward_mean']}")
def test_simple_optimizer_sequencing(self):
ModelCatalog.register_custom_model("rnn", RNNSpyModel)
register_env("counter", lambda _: DebugCounterEnv())
ppo = PPO(
env="counter",
config={
"num_workers": 0,
"rollout_fragment_length": 10,
"train_batch_size": 10,
"sgd_minibatch_size": 10,
"num_sgd_iter": 1,
"simple_optimizer": True,
"model": {
"custom_model": "rnn",
"max_seq_len": 4,
"vf_share_layers": True,
},
"framework": "tf",
},
)
ppo.train()
ppo.train()
batch0 = pickle.loads(
ray.experimental.internal_kv._internal_kv_get("rnn_spy_in_0"))
self.assertEqual(
batch0["sequences"].tolist(),
[[[0], [1], [2], [3]], [[4], [5], [6], [7]], [[8], [9], [0], [0]]],
)
self.assertEqual(batch0[SampleBatch.SEQ_LENS].tolist(), [4, 4, 2])
self.assertEqual(batch0["state_in"][0][0].tolist(), [0, 0, 0])
self.assertEqual(batch0["state_in"][1][0].tolist(), [0, 0, 0])
self.assertGreater(abs(np.sum(batch0["state_in"][0][1])), 0)
self.assertGreater(abs(np.sum(batch0["state_in"][1][1])), 0)
self.assertTrue(
np.allclose(batch0["state_in"][0].tolist()[1:],
batch0["state_out"][0].tolist()[:-1]))
self.assertTrue(
np.allclose(batch0["state_in"][1].tolist()[1:],
batch0["state_out"][1].tolist()[:-1]))
batch1 = pickle.loads(
ray.experimental.internal_kv._internal_kv_get("rnn_spy_in_1"))
self.assertEqual(
batch1["sequences"].tolist(),
[
[[10], [11], [12], [13]],
[[14], [0], [0], [0]],
[[0], [1], [2], [3]],
[[4], [0], [0], [0]],
],
)
self.assertEqual(batch1[SampleBatch.SEQ_LENS].tolist(), [4, 1, 4, 1])
self.assertEqual(batch1["state_in"][0][2].tolist(), [0, 0, 0])
self.assertEqual(batch1["state_in"][1][2].tolist(), [0, 0, 0])
self.assertGreater(abs(np.sum(batch1["state_in"][0][0])), 0)
self.assertGreater(abs(np.sum(batch1["state_in"][1][0])), 0)
self.assertGreater(abs(np.sum(batch1["state_in"][0][1])), 0)
self.assertGreater(abs(np.sum(batch1["state_in"][1][1])), 0)
self.assertGreater(abs(np.sum(batch1["state_in"][0][3])), 0)
self.assertGreater(abs(np.sum(batch1["state_in"][1][3])), 0)
def test_minibatch_sequencing(self):
ModelCatalog.register_custom_model("rnn", RNNSpyModel)
register_env("counter", lambda _: DebugCounterEnv())
ppo = PPO(
env="counter",
config={
"shuffle_sequences": False, # for deterministic testing
"num_workers": 0,
"rollout_fragment_length": 20,
"train_batch_size": 20,
"sgd_minibatch_size": 10,
"num_sgd_iter": 1,
"model": {
"custom_model": "rnn",
"max_seq_len": 4,
"vf_share_layers": True,
},
"framework": "tf",
},
)
ppo.train()
ppo.train()
# first epoch: 20 observations get split into 2 minibatches of 8
# four observations are discarded
batch0 = pickle.loads(
ray.experimental.internal_kv._internal_kv_get("rnn_spy_in_0"))
batch1 = pickle.loads(
ray.experimental.internal_kv._internal_kv_get("rnn_spy_in_1"))
if batch0["sequences"][0][0][0] > batch1["sequences"][0][0][0]:
batch0, batch1 = batch1, batch0 # sort minibatches
self.assertEqual(batch0[SampleBatch.SEQ_LENS].tolist(), [4, 4, 2])
self.assertEqual(batch1[SampleBatch.SEQ_LENS].tolist(), [2, 3, 4, 1])
check(
batch0["sequences"],
[
[[0], [1], [2], [3]],
[[4], [5], [6], [7]],
[[8], [9], [0], [0]],
],
)
check(
batch1["sequences"],
[
[[10], [11], [0], [0]],
[[12], [13], [14], [0]],
[[0], [1], [2], [3]],
[[4], [0], [0], [0]],
],
)
# second epoch: 20 observations get split into 2 minibatches of 8
# four observations are discarded
batch2 = pickle.loads(
ray.experimental.internal_kv._internal_kv_get("rnn_spy_in_2"))
batch3 = pickle.loads(
ray.experimental.internal_kv._internal_kv_get("rnn_spy_in_3"))
if batch2["sequences"][0][0][0] > batch3["sequences"][0][0][0]:
batch2, batch3 = batch3, batch2
self.assertEqual(batch2[SampleBatch.SEQ_LENS].tolist(), [4, 4, 2])
self.assertEqual(batch3[SampleBatch.SEQ_LENS].tolist(), [4, 4, 2])
check(
batch2["sequences"],
[
[[0], [1], [2], [3]],
[[4], [5], [6], [7]],
[[8], [9], [0], [0]],
],
)
check(
batch3["sequences"],
[
[[5], [6], [7], [8]],
[[9], [10], [11], [12]],
[[13], [14], [0], [0]],
],
)
results = tune.run(
"PPO",
config=config,
stop={"training_iteration": args.pre_training_iters},
verbose=1,
checkpoint_freq=1,
checkpoint_at_end=True,
)
print("Pre-training done.")
best_checkpoint = results.get_best_checkpoint(results.trials[0],
mode="max")
print(f".. best checkpoint was: {best_checkpoint}")
# Create a new dummy Trainer to "fix" our checkpoint.
new_trainer = PPO(config=config)
# Get untrained weights for all policies.
untrained_weights = new_trainer.get_weights()
# Restore all policies from checkpoint.
new_trainer.restore(best_checkpoint)
# Set back all weights (except for 1st agent) to original
# untrained weights.
new_trainer.set_weights(
{pid: w
for pid, w in untrained_weights.items() if pid != "policy_0"})
# Create the checkpoint from which tune can pick up the
# experiment.
new_checkpoint = new_trainer.save()
new_trainer.stop()
print(".. checkpoint to restore from (all policies reset, "
f"except policy_0): {new_checkpoint}")
prep = get_preprocessor(env.observation_space)(env.observation_space)
# <ray.rllib.models.preprocessors.GenericPixelPreprocessor object at 0x7fc4d049de80>
# Observations should be preprocessed prior to feeding into a model
env.reset().shape
# (210, 160, 3)
prep.transform(env.reset()).shape
# (84, 84, 3)
# __preprocessing_observations_end__
# __query_action_dist_start__
# Get a reference to the policy
import numpy as np
from ray.rllib.algorithms.ppo import PPO
algo = PPO(env="CartPole-v0", config={"framework": "tf2", "num_workers": 0})
policy = algo.get_policy()
# <ray.rllib.policy.eager_tf_policy.PPOTFPolicy_eager object at 0x7fd020165470>
# Run a forward pass to get model output logits. Note that complex observations
# must be preprocessed as in the above code block.
logits, _ = policy.model({"obs": np.array([[0.1, 0.2, 0.3, 0.4]])})
# (<tf.Tensor: id=1274, shape=(1, 2), dtype=float32, numpy=...>, [])
# Compute action distribution given logits
policy.dist_class
# <class_object 'ray.rllib.models.tf.tf_action_dist.Categorical'>
dist = policy.dist_class(logits, policy.model)
# <ray.rllib.models.tf.tf_action_dist.Categorical object at 0x7fd02301d710>
# Query the distribution for samples, sample logps
done = self.episode_len >= 10
# r = -abs(obs - action)
reward = -sum(abs(self.cur_obs - action))
# Set a new observation (random sample).
self.cur_obs = self.observation_space.sample()
return self.cur_obs, reward, done, {}
# Create an RLlib Algorithm instance to learn how to act in the above.
# environment.
algo = PPO(
config={
# Env class to use (here: our gym.Env sub-class from above).
"env": ParrotEnv,
# Config dict to be passed to our custom env's constructor.
"env_config": {
"parrot_shriek_range": gym.spaces.Box(-5.0, 5.0, (1, ))
},
# Parallelize environment rollouts.
"num_workers": 3,
})
# Train for n iterations and report results (mean episode rewards).
# Since we have to guess 10 times and the optimal reward is 0.0
# (exact match between observation and action value),
# we can expect to reach an optimal episode reward of 0.0.
for i in range(5):
results = algo.train()
print(f"Iter: {i}; avg. reward={results['episode_reward_mean']}")
# Perform inference (action computations) based on given env observations.
results = None
if not args.from_checkpoint:
results = tune.run(
"PPO",
config=config,
stop=stop,
checkpoint_at_end=True,
checkpoint_freq=10,
verbose=3,
)
# Restore trained trainer (set to non-explore behavior) and play against
# human on command line.
if args.num_episodes_human_play > 0:
num_episodes = 0
trainer = PPO(config=dict(config, **{"explore": False}))
if args.from_checkpoint:
trainer.restore(args.from_checkpoint)
else:
checkpoint = results.get_last_checkpoint()
if not checkpoint:
raise ValueError("No last checkpoint found in results!")
trainer.restore(checkpoint)
# Play from the command line against the trained agent
# in an actual (non-RLlib-wrapped) open-spiel env.
human_player = 1
env = Environment(args.env)
while num_episodes < args.num_episodes_human_play:
print("You play as {}".format("o" if human_player else "x"))
if agent_id % 2 == 0:
return "ppo_policy"
else:
return "dqn_policy"
ppo_trainer = PPO(
env="multi_agent_cartpole",
config={
"multiagent": {
"policies": policies,
"policy_mapping_fn": policy_mapping_fn,
"policies_to_train": ["ppo_policy"],
},
"model": {
"vf_share_layers": True,
},
"num_sgd_iter": 6,
"vf_loss_coeff": 0.01,
# disable filters, otherwise we would need to synchronize those
# as well to the DQN agent
"observation_filter": "MeanStdFilter",
# Use GPUs iff `RLLIB_NUM_GPUS` env var set to > 0.
"num_gpus": int(os.environ.get("RLLIB_NUM_GPUS", "0")),
"framework": args.framework,
},
)
dqn_trainer = DQN(
env="multi_agent_cartpole",
config={
"multiagent": {
"framework": "tf",
# Tweak the default model provided automatically by RLlib,
# given the environment's observation- and action spaces.
"model": {
"fcnet_hiddens": [64, 64],
"fcnet_activation": "relu",
},
# Set up a separate evaluation worker set for the
# `algo.evaluate()` call after training (see below).
"evaluation_num_workers": 1,
# Only for evaluation runs, render the env.
"evaluation_config": {
"render_env": True,
},
}
# Create our RLlib Trainer.
algo = PPO(config=config)
# Run it for n training iterations. A training iteration includes
# parallel sample collection by the environment workers as well as
# loss calculation on the collected batch and a model update.
for _ in range(3):
print(algo.train())
# Evaluate the trained Trainer (and render each timestep to the shell's
# output).
algo.evaluate()
# __rllib-in-60s-end__
"framework": "tf",
# Tweak the default model provided automatically by RLlib,
# given the environment's observation- and action spaces.
"model": {
"fcnet_hiddens": [64, 64],
"fcnet_activation": "relu",
},
# Set up a separate evaluation worker set for the
# `trainer.evaluate()` call after training (see below).
"evaluation_num_workers": 1,
# Only for evaluation runs, render the env.
"evaluation_config": {
"render_env": True,
},
}
# Create our RLlib Trainer.
trainer = PPO(config=config)
# Run it for n training iterations. A training iteration includes
# parallel sample collection by the environment workers as well as
# loss calculation on the collected batch and a model update.
for _ in range(3):
print(trainer.train())
# Evaluate the trained Trainer (and render each timestep to the shell's
# output).
trainer.evaluate()
# __rllib-in-60s-end__
def my_train_fn(config, reporter):
iterations = config.pop("train-iterations", 10)
# Train for n iterations with high LR
agent1 = PPO(env="CartPole-v0", config=config)
for _ in range(iterations):
result = agent1.train()
result["phase"] = 1
reporter(**result)
phase1_time = result["timesteps_total"]
state = agent1.save()
agent1.stop()
# Train for n iterations with low LR
config["lr"] = 0.0001
agent2 = PPO(env="CartPole-v0", config=config)
agent2.restore(state)
for _ in range(iterations):
result = agent2.train()
result["phase"] = 2
result["timesteps_total"] += phase1_time # keep time moving forward
reporter(**result)
agent2.stop()
phase1_time = result["timesteps_total"]
state = agent1.save()
agent1.stop()
# Train for n iterations with low LR
config["lr"] = 0.0001
agent2 = PPO(env="CartPole-v0", config=config)
agent2.restore(state)
for _ in range(iterations):
result = agent2.train()
result["phase"] = 2
result["timesteps_total"] += phase1_time # keep time moving forward
reporter(**result)
agent2.stop()
if __name__ == "__main__":
ray.init()
args = parser.parse_args()
config = {
# Special flag signalling `my_train_fn` how many iters to do.
"train-iterations": 2,
"lr": 0.01,
# Use GPUs iff `RLLIB_NUM_GPUS` env var set to > 0.
"num_gpus": int(os.environ.get("RLLIB_NUM_GPUS", "0")),
"num_workers": 0,
"framework": args.framework,
}
resources = PPO.default_resource_request(config)
tune.run(my_train_fn, resources_per_trial=resources, config=config)
