def __init__(self): super().__init__() self.input_embedders_parameters = {'observation': InputEmbedderParameters()} self.middleware_parameters = FCMiddlewareParameters() self.heads_parameters = [PolicyHeadParameters()] self.loss_weights = [1.0] self.async_training = True
def __init__(self): super().__init__() self.input_embedders_parameters = { 'observation': InputEmbedderParameters(batchnorm=True), 'action': InputEmbedderParameters(scheme=EmbedderScheme.Shallow) } self.middleware_parameters = FCMiddlewareParameters() self.heads_parameters = [VHeadParameters()] self.loss_weights = [1.0] self.rescale_gradient_from_head_by_factor = [1] self.optimizer_type = 'Adam' self.batch_size = 64 self.async_training = False self.learning_rate = 0.001 self.create_target_network = True self.shared_optimizer = True self.scale_down_gradients_by_number_of_workers_for_sync_training = False
def __init__(self): super().__init__() self.input_embedders_parameters = {'observation': InputEmbedderParameters()} self.middleware_parameters = FCMiddlewareParameters(scheme=MiddlewareScheme.Medium) self.heads_parameters = [PolicyHeadParameters()] self.loss_weights = [1.0] self.optimizer_type = 'Adam' self.batch_size = 32 self.replace_mse_with_huber_loss = False self.create_target_network = False
def __init__(self): super().__init__() self.input_embedders_parameters = { 'observation': InputEmbedderParameters() } self.middleware_parameters = FCMiddlewareParameters() self.heads_parameters = [DNDQHeadParameters()] self.loss_weights = [1.0] self.rescale_gradient_from_head_by_factor = [1] self.optimizer_type = 'Adam'
def __init__(self): super().__init__() self.input_embedders_parameters = {'observation': InputEmbedderParameters(activation_function='tanh')} self.middleware_parameters = FCMiddlewareParameters(activation_function='tanh') self.heads_parameters = [VHeadParameters()] self.loss_weights = [1.0] self.async_training = True self.l2_regularization = 0 self.create_target_network = True self.batch_size = 128
def __init__(self): super().__init__() self.input_embedders_parameters = { 'observation': InputEmbedderParameters() } self.middleware_parameters = FCMiddlewareParameters() self.heads_parameters = [VHeadParameters(), PolicyHeadParameters()] self.loss_weights = [0.5, 1.0] self.rescale_gradient_from_head_by_factor = [1, 1] self.optimizer_type = 'Adam' self.clip_gradients = 40.0 self.async_training = True
def __init__(self): super().__init__() self.input_embedders_parameters = { 'observation': InputEmbedderParameters() } self.middleware_parameters = FCMiddlewareParameters() self.heads_parameters = [QHeadParameters()] self.loss_weights = [1.0] self.optimizer_type = 'Adam' self.async_training = True self.shared_optimizer = True self.create_target_network = True
def __init__(self): super().__init__() self.input_embedders_parameters = { 'observation': InputEmbedderParameters(activation_function='leaky_relu'), 'measurements': InputEmbedderParameters(activation_function='leaky_relu'), 'goal': InputEmbedderParameters(activation_function='leaky_relu') } self.input_embedders_parameters['observation'].scheme = [ Conv2d([32, 8, 4]), Conv2d([64, 4, 2]), Conv2d([64, 3, 1]), Dense([512]), ] self.input_embedders_parameters['measurements'].scheme = [ Dense([128]), Dense([128]), Dense([128]), ] self.input_embedders_parameters['goal'].scheme = [ Dense([128]), Dense([128]), Dense([128]), ] self.middleware_parameters = FCMiddlewareParameters( activation_function='leaky_relu', scheme=MiddlewareScheme.Empty) self.heads_parameters = [ MeasurementsPredictionHeadParameters( activation_function='leaky_relu') ] self.loss_weights = [1.0] self.async_training = False self.batch_size = 64 self.adam_optimizer_beta1 = 0.95
def __init__(self): super().__init__() self.input_embedders_parameters = { 'observation': InputEmbedderParameters(activation_function='tanh') } self.middleware_parameters = FCMiddlewareParameters( activation_function='tanh') self.heads_parameters = [VHeadParameters(), PPOHeadParameters()] self.loss_weights = [1.0, 1.0] self.rescale_gradient_from_head_by_factor = [1, 1] self.batch_size = 64 self.optimizer_type = 'Adam' self.clip_gradients = None self.use_separate_networks_per_head = True self.async_training = False self.l2_regularization = 0 self.create_target_network = True self.shared_optimizer = True self.scale_down_gradients_by_number_of_workers_for_sync_training = True
schedule_params.steps_between_evaluation_periods = EnvironmentEpisodes( 16 * 50) # 50 cycles schedule_params.evaluation_steps = EnvironmentEpisodes(10) schedule_params.heatup_steps = EnvironmentSteps(0) ######### # Agent # ######### agent_params = DQNAgentParameters() agent_params.network_wrappers['main'].learning_rate = 0.001 agent_params.network_wrappers['main'].batch_size = 128 agent_params.network_wrappers['main'].middleware_parameters.scheme = [ Dense([256]) ] agent_params.network_wrappers['main'].input_embedders_parameters = { 'state': InputEmbedderParameters(scheme=EmbedderScheme.Empty), 'desired_goal': InputEmbedderParameters(scheme=EmbedderScheme.Empty) } agent_params.algorithm.discount = 0.98 agent_params.algorithm.num_consecutive_playing_steps = EnvironmentEpisodes(16) agent_params.algorithm.num_consecutive_training_steps = 40 agent_params.algorithm.num_steps_between_copying_online_weights_to_target = TrainingSteps( 40) agent_params.algorithm.rate_for_copying_weights_to_target = 0.05 agent_params.memory.max_size = (MemoryGranularity.Transitions, 10**6) agent_params.exploration.epsilon_schedule = ConstantSchedule(0.2) agent_params.exploration.evaluation_epsilon = 0 agent_params.memory = EpisodicHindsightExperienceReplayParameters() agent_params.memory.hindsight_goal_selection_method = HindsightGoalSelectionMethod.Final agent_params.memory.hindsight_transitions_per_regular_transition = 1
######### # Agent # ######### agent_params = ActorCriticAgentParameters() agent_params.algorithm.policy_gradient_rescaler = PolicyGradientRescaler.GAE agent_params.algorithm.apply_gradients_every_x_episodes = 1 agent_params.algorithm.num_steps_between_gradient_updates = 20 agent_params.algorithm.gae_lambda = 0.96 agent_params.algorithm.beta_entropy = 0 agent_params.network_wrappers['main'].clip_gradients = 10.0 agent_params.network_wrappers['main'].learning_rate = 0.00001 # agent_params.network_wrappers['main'].batch_size = 20 agent_params.network_wrappers['main'].input_embedders_parameters = { "screen": InputEmbedderParameters(input_rescaling={'image': 3.0}) } agent_params.exploration = AdditiveNoiseParameters() agent_params.exploration.noise_percentage_schedule = ConstantSchedule(0.05) # agent_params.exploration.noise_percentage_schedule = LinearSchedule(0.4, 0.05, 100000) agent_params.exploration.evaluation_noise_percentage = 0.05 agent_params.network_wrappers['main'].batch_size = 64 agent_params.network_wrappers['main'].optimizer_epsilon = 1e-5 agent_params.network_wrappers['main'].adam_optimizer_beta2 = 0.999 ############### # Environment # ###############
schedule_params = ScheduleParameters() schedule_params.improve_steps = TrainingSteps(10000000000) schedule_params.steps_between_evaluation_periods = EnvironmentEpisodes(20) schedule_params.evaluation_steps = EnvironmentEpisodes(1) schedule_params.heatup_steps = EnvironmentSteps(0) ######### # Agent # ######### agent_params = ActorCriticAgentParameters() agent_params.algorithm.apply_gradients_every_x_episodes = 1 agent_params.algorithm.num_steps_between_gradient_updates = 20 agent_params.algorithm.beta_entropy = 0.005 agent_params.network_wrappers['main'].learning_rate = 0.00002 agent_params.network_wrappers['main'].input_embedders_parameters['observation'] = \ InputEmbedderParameters(scheme=[Dense([200])]) agent_params.network_wrappers['main'].middleware_parameters = LSTMMiddlewareParameters(scheme=MiddlewareScheme.Empty, number_of_lstm_cells=128) agent_params.input_filter = MujocoInputFilter() agent_params.input_filter.add_reward_filter('rescale', RewardRescaleFilter(1/20.)) agent_params.input_filter.add_observation_filter('observation', 'normalize', ObservationNormalizationFilter()) agent_params.exploration = ContinuousEntropyParameters() ############### # Environment # ############### env_params = Mujoco() env_params.level = SingleLevelSelection(mujoco_v2)
top_agent_params.memory = EpisodicHRLHindsightExperienceReplayParameters() top_agent_params.memory.max_size = (MemoryGranularity.Transitions, 10000000) top_agent_params.memory.hindsight_transitions_per_regular_transition = 3 top_agent_params.memory.hindsight_goal_selection_method = HindsightGoalSelectionMethod.Future top_agent_params.memory.goals_space = goals_space top_agent_params.algorithm.num_consecutive_playing_steps = EnvironmentEpisodes(32) top_agent_params.algorithm.num_consecutive_training_steps = 40 top_agent_params.algorithm.num_steps_between_copying_online_weights_to_target = TrainingSteps(40) # exploration - OU process top_agent_params.exploration = OUProcessParameters() top_agent_params.exploration.theta = 0.1 # actor top_actor = top_agent_params.network_wrappers['actor'] top_actor.input_embedders_parameters = {'observation': InputEmbedderParameters(scheme=EmbedderScheme.Empty), 'desired_goal': InputEmbedderParameters(scheme=EmbedderScheme.Empty)} top_actor.middleware_parameters.scheme = [Dense([64])] * 3 top_actor.learning_rate = 0.001 top_actor.batch_size = 4096 # critic top_critic = top_agent_params.network_wrappers['critic'] top_critic.input_embedders_parameters = {'observation': InputEmbedderParameters(scheme=EmbedderScheme.Empty), 'action': InputEmbedderParameters(scheme=EmbedderScheme.Empty), 'desired_goal': InputEmbedderParameters(scheme=EmbedderScheme.Empty)} top_critic.embedding_merger_type = EmbeddingMergerType.Concat top_critic.middleware_parameters.scheme = [Dense([64])] * 3 top_critic.learning_rate = 0.001 top_critic.batch_size = 4096
schedule_params.heatup_steps = EnvironmentSteps(0) ################ # Agent Params # ################ agent_params = DDPGAgentParameters() # actor actor_network = agent_params.network_wrappers['actor'] actor_network.learning_rate = 0.001 actor_network.batch_size = 256 actor_network.optimizer_epsilon = 1e-08 actor_network.adam_optimizer_beta1 = 0.9 actor_network.adam_optimizer_beta2 = 0.999 actor_network.input_embedders_parameters = { 'observation': InputEmbedderParameters(scheme=EmbedderScheme.Empty), 'desired_goal': InputEmbedderParameters(scheme=EmbedderScheme.Empty) } actor_network.middleware_parameters = FCMiddlewareParameters(scheme=[Dense([256]), Dense([256]), Dense([256])]) actor_network.heads_parameters[0].batchnorm = False # critic critic_network = agent_params.network_wrappers['critic'] critic_network.learning_rate = 0.001 critic_network.batch_size = 256 critic_network.optimizer_epsilon = 1e-08 critic_network.adam_optimizer_beta1 = 0.9 critic_network.adam_optimizer_beta2 = 0.999 critic_network.input_embedders_parameters = { 'action': InputEmbedderParameters(scheme=EmbedderScheme.Empty), 'desired_goal': InputEmbedderParameters(scheme=EmbedderScheme.Empty),