def main():
"""
# Example with a simple Dummy vec env
env = gym.envs.make('panda-ip-reach-v0', renders= True)
env = DummyVecEnv([lambda: env])
"""
print("Env created !")
env = PandaReachGymEnv(renders=True)
env.render(mode='rgb_array')
model = DDPG.load("ddpg_panda_reach")
print("model loaded !")
while True:
obs, done = env.reset(), False
print("===================================")
print("obs")
print(obs)
episode_rew = 0
while not done:
env.render(mode='rgb_array')
action, _states = model.predict(obs)
obs, rew, done, info = env.step(action)
episode_rew += rew
print("Episode reward", episode_rew)
def train_stable_baselines(submodule, flags):
"""Train policies using the PPO algorithm in stable-baselines."""
from stable_baselines3.common.vec_env import DummyVecEnv
flow_params = submodule.flow_params
# Path to the saved files
exp_tag = flow_params['exp_tag']
result_name = '{}/{}'.format(exp_tag, strftime("%Y-%m-%d-%H:%M:%S"))
# Perform training.
start_time = timeit.default_timer()
# print experiment.json information
print("=========================================")
print('Beginning training.')
print('Algorithm :', flags.algorithm)
model = run_model_stablebaseline(flow_params, flags.num_cpus,
flags.rollout_size, flags.num_steps,
flags.algorithm, flags.exp_config)
stop_time = timeit.default_timer()
run_time = stop_time - start_time
print("Training is Finished")
print("total runtime: ", run_time)
# Save the model to a desired folder and then delete it to demonstrate
# loading.
print('Saving the trained model!')
path = os.path.realpath(os.path.expanduser('~/baseline_results'))
ensure_dir(path)
save_path = os.path.join(path, result_name)
model.save(save_path)
# dump the flow params
with open(os.path.join(path, result_name) + '.json', 'w') as outfile:
json.dump(flow_params,
outfile,
cls=FlowParamsEncoder,
sort_keys=True,
indent=4)
# Replay the result by loading the model
print('Loading the trained model and testing it out!')
if flags.exp_config.lower() == "ppo":
from stable_baselines3 import PPO
model = PPO.load(save_path)
elif flags.exp_config.lower() == "ddpg":
from stable_baselines3 import DDPG
model = DDPG.load(save_path)
flow_params = get_flow_params(os.path.join(path, result_name) + '.json')
flow_params['sim'].render = True
env = env_constructor(params=flow_params, version=0)()
# The algorithms require a vectorized environment to run
eval_env = DummyVecEnv([lambda: env])
obs = eval_env.reset()
reward = 0
for _ in range(flow_params['env'].horizon):
action, _states = model.predict(obs)
obs, rewards, dones, info = eval_env.step(action)
reward += rewards
print('the final reward is {}'.format(reward))
def load_model(env, algorithm, filename):
if algorithm == "ddpg":
return DDPG.load(filename, env=env)
elif algorithm == "td3":
return TD3.load(filename, env=env)
elif algorithm == "sac":
return SAC.load(filename, env=env)
else:
raise Exception("--> Alican's LOG: Unknown agent type!")
def test(MODEL_TEST):
log_dir = "model_save/" + MODEL_PATH + "/" + MODEL_PATH + MODEL_TEST
env = ENV(util='test', par=PARAM, dt=DT)
env.render = True
env = Monitor(env, log_dir)
if PARAM['algo']=='td3':
model = TD3.load(log_dir)
elif PARAM['algo']=='ddpg':
model = DDPG.load(log_dir)
elif PARAM['algo']=='ppo':
model = PPO.load(log_dir)
# plot_results(f"model_save/")
trade_dt = pd.DataFrame([]) # trade_dt: 所有股票的交易数据
result_dt = pd.DataFrame([]) # result_dt: 所有股票一年测试结果数据
for i in range(TEST_STOCK_NUM):
state = env.reset()
stock_bh_id = 'stock_bh_'+str(i) # 记录每个股票交易的buy_hold
stock_port_id = 'stock_port_'+str(i) # 记录每个股票交易的portfolio
stock_action_id = 'stock_action_' + str(i) # 记录每个股票交易的action
flow_L_id = 'stock_flow_' + str(i) # 记录每个股票的流水
stock_bh_dt, stock_port_dt, action_policy_dt, flow_L_dt = [], [], [], []
day = 0
while True:
action = model.predict(state)
next_state, reward, done, info = env.step(action[0])
state = next_state
# print("trying:",day,"reward:", reward,"now profit:",env.profit) # 测试每一步的交易policy
stock_bh_dt.append(env.buy_hold)
stock_port_dt.append(env.Portfolio_unit)
action_policy_dt.append(action[0][0]) # 用于记录policy
flow_L_dt.append(env.flow)
day+=1
if done:
print('stock: {}, total profit: {:.2f}%, buy hold: {:.2f}%, sp: {:.4f}, mdd: {:.2f}%, romad: {:.4f}'
.format(i, env.profit*100, env.buy_hold*100, env.sp, env.mdd*100, env.romad))
# 交易完后记录：股票ID，利润（单位100%），buy_hold（单位100%），夏普率，最大回撤率（单位100%），romad
result=pd.DataFrame([[i,env.profit*100,env.buy_hold*100,env.sp,env.mdd*100,env.romad]])
break
trade_dt_stock = pd.DataFrame({stock_port_id: stock_port_dt,
stock_bh_id: stock_bh_dt,
stock_action_id: action_policy_dt,
flow_L_id: flow_L_dt}) # 支股票的交易数据
trade_dt = pd.concat([trade_dt, trade_dt_stock], axis=1) # 所有股票交易数据合并（加行）
result_dt = pd.concat([result_dt,result],axis=0) # 所有股票结果数据合并（加列）
result_dt.columns = ['stock_id','prfit(100%)','buy_hold(100%)','sp','mdd(100%)','romad']
trade_dt.to_csv('out_dt/trade_'+MODEL_PATH+'.csv',index=False)
result_dt.to_csv('out_dt/result_'+MODEL_PATH+'.csv',index=False)
def main():
args = parse_arguments()
load_path = os.path.join("logs", args.env, args.agent, "best_model.zip")
stats_path = os.path.join(args.log_dir, args.env, args.agent, "vec_normalize.pkl")
if args.agent == 'ddpg':
from stable_baselines3 import DDPG
model = DDPG.load(load_path)
elif args.agent == 'td3':
from stable_baselines3 import TD3
model = TD3.load(load_path)
elif args.agent == 'ppo':
from stable_baselines3 import PPO
model = PPO.load(load_path)
env = make_vec_env(args.env, n_envs=1)
env = VecNormalize.load(stats_path, env)
# do not update them at test time
env.training = False
# reward normalization is not needed at test time
env.norm_reward = False
# env = gym.make(args.env)
img = []
if args.render:
env.render('human')
done = False
obs = env.reset()
action = model.predict(obs)
if args.gif:
img.append(env.render('rgb_array'))
if args.timesteps is None:
while not done:
action, _= model.predict(obs)
obs, reward, done, info = env.step(action)
if args.gif:
img.append(env.render('rgb_array'))
else:
env.render()
else:
for i in range(args.timesteps):
action, _= model.predict(obs)
obs, reward, done, info = env.step(action)
if args.gif:
img.append(env.render('rgb_array'))
else:
env.render()
if args.gif:
imageio.mimsave(f'{os.path.join("logs", args.env, args.agent, "recording.gif")}', [np.array(img) for i, img in enumerate(img) if i%2 == 0], fps=29)
def test_ddpg():
log_dir = f"model_save/best_model_ddpg_cnn"
env = ENV(istest=True)
env.render = True
env = Monitor(env, log_dir)
model = DDPG.load(log_dir)
plot_results(f"model_save/")
for i in range(10):
state = env.reset()
while True:
action = model.predict(state)
next_state, reward, done, info = env.step(action[0])
state = next_state
# print("trying:",i,"action:", action,"now profit:",env.profit)
if done:
print('stock',i,' total profit=',env.profit,' buy hold=',env.buy_hold)
break
def run(env, algname, filename):
if algname == "TD3":
model = TD3.load(f"{algname}_pkl")
elif algname == "SAC":
if filename:
model = SAC.load(f"{filename}")
else:
model = SAC.load(f"{algname}_pkl")
elif algname == "DDPG":
model = DDPG.load(f"{algname}_pkl")
else:
raise "Wrong algorithm name provided."
obs = env.reset()
while True:
action, _states = model.predict(obs)
obs, rewards, done, info = env.step(action)
env.render()
if done:
break
def test_ddpg():
log_dir = f"model_save/best_model_ddpg_sp2"
env = ENV(istest=True)
env.render = True
env = Monitor(env, log_dir)
model = DDPG.load(log_dir)
plot_results(f"model_save/")
for i in range(10):
state = env.reset()
day = 0
while True:
action = model.predict(state)
next_state, reward, done, info = env.step(action[0])
state = next_state
# print("trying:",day,"reward:", reward,"now profit:",env.profit)
day += 1
if done:
print(
'stock: {}, total profit: {:.2f}%, buy hold: {:.2f}%, sp: {:.4f}, mdd: {:.2f}%, romad: {:.4f}'
.format(i, env.profit * 100, env.buy_hold * 100, env.sp,
env.mdd * 100, env.romad))
break
import os
import time
import pdb
import math
import numpy as np
import pybullet as p
import gym
from gym import error, spaces, utils
from gym.utils import seeding
from stable_baselines3 import DDPG
from stable_baselines3.common.env_checker import check_env
from stable_baselines3.common.evaluation import evaluate_policy
from gym_pybullet_drones.envs.RLTetherAviary import RLTetherAviary
if __name__ == "__main__":
#### Check the environment's spaces ################################################################
env = RLTetherAviary(gui=1, record=1)
# env.USE_GUI_RPM = True
model_name = "<path-to-model>"
model = DDPG.load(model_name)
obs = env.reset()
for i in range(1000):
action, _states = model.predict(obs)
obs, rewards, dones, info = env.step(action)
# env.render()
action_noise = OrnsteinUhlenbeckActionNoise(mean=np.zeros(n_actions),
sigma=float(0.5) *
np.ones(n_actions))
# model = DDPG(MlpPolicy, env, verbose=1, param_noise=param_noise, action_noise=action_noise)
model = DDPG(MlpPolicy, env, verbose=1, action_noise=action_noise)
model.learn(total_timesteps=400000)
model.save(
"/home/nightmareforev/git/bullet_stuff/multi_kuka_sim/kukakr5Arc/envs/saved_policies/kukakr5Arc_reacher"
)
print('Saving model.... Model saved')
del model # remove to demonstrate saving and loading
model = DDPG.load(
"/home/nightmareforev/git/bullet_stuff/multi_kuka_sim/kukakr5Arc/envs/saved_policies/kukakr5Arc_reacher",
env=env)
print('Loading model.....Model loaded')
#env.render() goes before env.reset() for the render to work
#env.render()
#obs = env.reset()
#while True:
# action, _states = model.predict(obs)
# obs, rewards, dones, info = env.step(action)
# env.render()
while True:
print("running saved policy")
obs = env.reset()
env = gym.make('gym_spm:spm-v0')
# env = make_vec_env(env_id, n_envs=1, seed=0)
# env = VecCheckNan(env, raise_exception=True)
# env = check_env(env)
# The noise objects for DDPG
n_actions = env.action_space.shape[-1]
action_noise = NormalActionNoise(mean=np.zeros(n_actions), sigma=25.67 * np.ones(n_actions))
# model = TD3(MlpPolicy, env, action_noise=action_noise, verbose=1, tensorboard_log="./TD3_spm_v2_SOC_point5_two_state/")
model = DDPG(MlpPolicy, env, action_noise=action_noise, verbose=1, tensorboard_log="./DDPG_spm_v2_SOC_point5_two_state/")
model.learn(total_timesteps=25000, tb_log_name='DDPG_test_run_3_SOCpoint5_two_state')
model.save('DDPG_test_3_SOC_point5_two_states')
model.load('DDPG_test_2_SOC_point5_two_states')
mean_reward, std_reward = evaluate_policy(model, model.get_env(), n_eval_episodes=10)
print("Mean Reward = ", mean_reward)
epsi_sp_list = []
action_list = []
soc_list = []
Concentration_list = []
Concentration_list1 = []
obs = env.reset()
for _ in range(3600):
action, _states = model.predict(obs, deterministic=True)
obs, rewards, done, info = env.step(action)
def load_weights(self, weights_file):
""" Load the model from a zip archive """
logger.info(f"load weight from file: {weights_file}")
self.model = DDPG.load(weights_file, env=self.env)
pass
# Instantiate Model
n_actions = env.action_space.shape[-1]
action_noise = NormalActionNoise(mean=np.zeros(n_actions),
sigma=25.67 * np.ones(n_actions))
model = DDPG(MlpPolicy,
env,
action_noise=action_noise,
verbose=1,
tensorboard_log=log_dir)
# Train OR Load Model
if train_model:
model.learn(total_timesteps=25000, tb_log_name=details)
model.save(model_dir_description)
else:
model.load(model_dir_description)
mean_reward, std_reward = evaluate_policy(model,
model.get_env(),
n_eval_episodes=10)
print("Mean Reward = ", mean_reward)
epsi_sp_list = []
action_list = []
soc_list = []
Concentration_list = []
Concentration_list1 = []
obs = env.reset()
for _ in range(3600):
# If a model is from a bucket, download model
if 'gs://' in args.model:
# Download from given bucket (gcloud configured with privileges)
client = gcloud.init_storage_client()
bucket_name = args.model.split('/')[2]
model_path = args.model.split(bucket_name + '/')[-1]
gcloud.read_from_bucket(client, bucket_name, model_path)
model_path = './' + model_path
else:
model_path = args.model
model = None
if args.algorithm == 'DQN':
model = DQN.load(model_path)
elif args.algorithm == 'DDPG':
model = DDPG.load(model_path)
elif args.algorithm == 'A2C':
model = A2C.load(model_path)
elif args.algorithm == 'PPO':
model = PPO.load(model_path)
elif args.algorithm == 'SAC':
model = SAC.load(model_path)
elif args.algorithm == 'TD3':
model = TD3.load(model_path)
else:
raise RuntimeError('Algorithm specified is not registered.')
# ---------------------------------------------------------------------------- #
# Execute loaded agent #
# ---------------------------------------------------------------------------- #
for i in range(args.episodes):
import gym
import numpy as np
from stable_baselines3 import DDPG
from stable_baselines3.common.noise import NormalActionNoise, OrnsteinUhlenbeckActionNoise
env = gym.make('MountainCarContinuous-v0')
# The noise objects for DDPG
n_actions = env.action_space.shape[-1]
action_noise = NormalActionNoise(mean=np.zeros(n_actions),
sigma=0.1 * np.ones(n_actions))
model = DDPG('MlpPolicy', env, action_noise=action_noise, verbose=1)
model.learn(total_timesteps=1000000, log_interval=10)
model.save("ddpg_pendulum")
env = model.get_env()
del model # remove to demonstrate saving and loading
model = DDPG.load("ddpg_pendulum")
obs = env.reset()
while True:
action, _states = model.predict(obs)
obs, rewards, dones, info = env.step(action)
env.render()
#
input_path = "./Model/DDGP_1.pt"
#
policy_path = "./Model/Policy.pt"
#
# value_func_path = "./Model/Value_Func.pt"
#
# n_actions = env.action_space.shape[-1]
# action_noise = NormalActionNoise(mean=np.zeros(n_actions), sigma=.75 * np.ones(n_actions))
#
# model = DDPG(MlpPolicy, env, action_noise=action_noise, verbose=1)
#
#
# model.load(input_path)
model = DDPG.load("./Model/DDGP_1.pt")
# torch.save(model, "./Model/Full_Model.pt")
model.policy.save(policy_path)
dict_thing = model.policy.state_dict()
x = torch.randn(2)
print(x.shape)
print(x)
print(model.actor)
# print(dict_thing)
#!/usr/bin/env python
import gym
from stable_baselines3 import PPO
from pathlib import Path
from util import Evaluate, plot2, plot3, plot_picture
env = gym.make("reference_environment:reference-environment-v0")
# agent = PPO.load("MODEL_0.zip")
from stable_baselines3 import DDPG
agent = DDPG.load("MODEL_ALPHA_GENERATION.zip")
evaluate = Evaluate(env, agent)
seeds = evaluate.read_seeds(fname="seeds.csv")
# mean_reward = evaluate.RL_agent(seeds) # Add your agent to the Evaluate class and call it here e.g. evaluate.my_agent(seeds)
# mean_reward = evaluate.matching_agent(seeds) # Add your agent to the Evaluate class and call it here e.g. evaluate.my_agent(seeds)
# mean_reward = evaluate.min_agent(seeds) # Add your agent to the Evaluate class and call it here e.g. evaluate.my_agent(seeds)
mean_reward = evaluate.transformed_agent(seeds, H=7, transform="Standard")
# ### Plot the last episode
# plot2(env.state, "fixed_policy")
# plot3(env.state, "fixed_policy.png")
#
#
# ## Plot the last episode
# plot2(env.state, "fixed_policy_h=4")
# plot3(env.state, "fixed_policy_h=4.png")
plot_picture(env.state, "fixed_policy")
model_path = ''
if 'gs://' in args.model:
# Download from given bucket (gcloud configured with privileges)
client = gcloud.init_storage_client()
bucket_name = args.model.split('/')[2]
model_path = args.model.split(bucket_name + '/')[-1]
gcloud.read_from_bucket(client, bucket_name, model_path)
model_path = './' + model_path
else:
model_path = args.model
model = None
if args.algorithm == 'DQN':
model = DQN.load(model_path, tensorboard_log=args.tensorboard)
elif args.algorithm == 'DDPG':
model = DDPG.load(model_path, tensorboard_log=args.tensorboard)
elif args.algorithm == 'A2C':
model = A2C.load(model_path, tensorboard_log=args.tensorboard)
elif args.algorithm == 'PPO':
model = PPO.load(model_path, tensorboard_log=args.tensorboard)
elif args.algorithm == 'SAC':
model = SAC.load(model_path, tensorboard_log=args.tensorboard)
elif args.algorithm == 'TD3':
model = TD3.load(model_path, tensorboard_log=args.tensorboard)
else:
raise RuntimeError('Algorithm specified is not registered.')
model.set_env(env)
# ---------------------------------------------------------------------------- #
# Calculating total training timesteps based on number of episodes #
client = Client(remote_base)
env_id = "reference-environment-v0"
seed = int(os.getenv("RANGL_SEED", 123456))
instance_id = client.env_create(env_id, seed)
client.env_monitor_start(
instance_id,
directory=f"monitor/{instance_id}",
force=True,
resume=False,
video_callable=False,
)
model = DDPG.load("MODEL_ALPHA_GENERATION.zip")
observation = client.env_reset(instance_id)
print(observation)
import numpy as np
def ObservationTransform(obs, H, transform, steps_per_episode=int(96)):
step_count, generator_1_level, generator_2_level = obs[:3]
agent_prediction = np.array(obs[3:])
agent_horizon_prediction = agent_prediction[-1] * np.ones(
steps_per_episode)
agent_horizon_prediction[:int(steps_per_episode -
if os.path.isfile(ARGS.exp + '/success_model.zip'):
path = ARGS.exp + '/success_model.zip'
elif os.path.isfile(ARGS.exp + '/best_model.zip'):
path = ARGS.exp + '/best_model.zip'
else:
print("[ERROR]: no model under the specified path", ARGS.exp)
if algo == 'a2c':
model = A2C.load(path)
if algo == 'ppo':
model = PPO.load(path)
if algo == 'sac':
model = SAC.load(path)
if algo == 'td3':
model = TD3.load(path)
if algo == 'ddpg':
model = DDPG.load(path)
#### Parameters to recreate the environment ################
env_name = ARGS.exp.split("-")[1] + "-aviary-v0"
OBS = ObservationType.KIN if ARGS.exp.split(
"-")[3] == 'kin' else ObservationType.RGB
if ARGS.exp.split("-")[4] == 'rpm':
ACT = ActionType.RPM
elif ARGS.exp.split("-")[4] == 'dyn':
ACT = ActionType.DYN
elif ARGS.exp.split("-")[4] == 'pid':
ACT = ActionType.PID
elif ARGS.exp.split("-")[4] == 'vel':
ACT = ActionType.VEL
elif ARGS.exp.split("-")[4] == 'tun':
ACT = ActionType.TUN
train = True
env = gym.make('gym_spm:spm-v0')
# The noise objects for DDPG
n_actions = env.action_space.shape[-1]
action_noise = NormalActionNoise(mean=np.zeros(n_actions), sigma=25.67 * np.ones(n_actions))
model = DDPG(MlpPolicy, env, action_noise=action_noise, verbose=1, tensorboard_log="./DDPG_spm_v2_SOC_point5_two_state/")
# model = TD3(MlpPolicy, env, action_noise=action_noise, verbose=1, tensorboard_log="./TD3_spm_v2_SOC_point5_two_state/")
if train:
model.learn(total_timesteps=2500000, tb_log_name='test_run_3_SOCpoint5_two_state')
model.save('TD3_test_3_SOC_point5_two_states')
else:
model.load('TD3_test_2_SOC_point5_two_states')
mean_reward, std_reward = evaluate_policy(model, model.get_env(), n_eval_episodes=10)
print("Mean Reward = ", mean_reward)
epsi_sp_list = []
action_list = []
soc_list = []
Concentration_list = []
Concentration_list1 = []
obs = env.reset()
for _ in range(3600):
action, _states = model.predict(obs, deterministic=True)
