def experiment(args):
device = torch.device(
"cuda:{}".format(args.device) if args.cuda else "cpu")
env = get_env(params['env_name'], params['env'])
env.seed(args.seed)
torch.manual_seed(args.seed)
np.random.seed(args.seed)
if args.cuda:
torch.backends.cudnn.deterministic = True
buffer_param = params['replay_buffer']
replay_buffer = BaseReplayBuffer(int(buffer_param['size']))
experiment_name = os.path.split( os.path.splitext( args.config )[0] )[-1] if args.id is None \
else args.id
logger = Logger(experiment_name, params['env_name'], args.seed, params,
args.log_dir)
params['general_setting']['env'] = env
params['general_setting']['replay_buffer'] = replay_buffer
params['general_setting']['logger'] = logger
params['general_setting']['device'] = device
params['net']['base_type'] = networks.MLPBase
# agent = get_agent( params )
# print(env)
# params['general_setting']['collector'] = BaseCollector(
# env, pf, replay_buffer
# )
pf = policies.GuassianContPolicy(
input_shape=env.observation_space.shape[0],
output_shape=2 * env.action_space.shape[0],
**params['net'])
vf = networks.Net(input_shape=env.observation_space.shape[0],
output_shape=1,
**params['net'])
qf = networks.FlattenNet(input_shape=env.observation_space.shape[0] +
env.action_space.shape[0],
output_shape=1,
**params['net'])
pretrain_pf = policies.UniformPolicyContinuous(env.action_space.shape[0])
params['general_setting']['collector'] = BaseCollector(env,
pf,
replay_buffer,
device=device)
params['general_setting']['save_dir'] = osp.join(logger.work_dir, "model")
agent = SAC(pf=pf,
vf=vf,
qf=qf,
pretrain_pf=pretrain_pf,
**params['sac'],
**params['general_setting'])
agent.train()
def experiment(args):
device = torch.device("cuda:{}".format(args.device) if args.cuda else "cpu")
env = get_env( params['env_name'], params['env'])
env.seed(args.seed)
torch.manual_seed(args.seed)
np.random.seed(args.seed)
if args.cuda:
torch.backends.cudnn.deterministic=True
buffer_param = params['replay_buffer']
experiment_name = os.path.split( os.path.splitext( args.config )[0] )[-1] if args.id is None \
else args.id
logger = Logger( experiment_name , params['env_name'], args.seed, params, args.log_dir )
params['general_setting']['env'] = env
params['general_setting']['logger'] = logger
params['general_setting']['device'] = device
params['net']['base_type']=networks.MLPBase
import torch.multiprocessing as mp
mp.set_start_method('spawn')
pf = policies.GuassianContPolicy (
input_shape = env.observation_space.shape[0],
output_shape = 2 * env.action_space.shape[0],
**params['net'] )
vf = networks.Net(
input_shape = env.observation_space.shape[0],
output_shape = 1,
**params['net'] )
qf = networks.FlattenNet(
input_shape = env.observation_space.shape[0] + env.action_space.shape[0],
output_shape = 1,
**params['net'] )
# pretrain_pf = policies.UniformPolicyContinuous(env.action_space.shape[0])
example_ob = env.reset()
example_dict = {
"obs": example_ob,
"next_obs": example_ob,
"acts": env.action_space.sample(),
"rewards": [0],
"terminals": [False]
}
replay_buffer = SharedBaseReplayBuffer( int(buffer_param['size']),
1
)
replay_buffer.build_by_example(example_dict)
params['general_setting']['replay_buffer'] = replay_buffer
params['general_setting']['collector'] = ParallelCollector(
env, pf, replay_buffer, device=device, worker_nums=1
)
params['general_setting']['save_dir'] = osp.join(logger.work_dir,"model")
agent = SAC(
pf = pf,
vf = vf,
qf = qf,
**params['sac'],
**params['general_setting']
)
agent.train()
def get_agent(params):
env = params['general_setting']['env']
# params['general_setting']['collector'] = BaseCollector(
# env
# )
if len(env.observation_space.shape) == 3:
params['net']['base_type'] = networks.CNNBase
if params['env']['frame_stack']:
buffer_param = params['replay_buffer']
efficient_buffer = replay_buffers.MemoryEfficientReplayBuffer(
int(buffer_param['size']))
params['general_setting']['replay_buffer'] = efficient_buffer
else:
params['net']['base_type'] = networks.MLPBase
if params['agent'] == 'sac':
pf = policies.GuassianContPolicy(
input_shape=env.observation_space.shape[0],
output_shape=2 * env.action_space.shape[0],
**params['net'])
vf = networks.Net(input_shape=env.observation_space.shape[0],
output_shape=1,
**params['net'])
qf = networks.FlattenNet(input_shape=env.observation_space.shape[0] +
env.action_space.shape[0],
output_shape=1,
**params['net'])
pretrain_pf = policies.UniformPolicyContinuous(
env.action_space.shape[0])
return SAC(pf=pf,
vf=vf,
qf=qf,
pretrain_pf=pretrain_pf,
**params['sac'],
**params['general_setting'])
if params['agent'] == 'twin_sac':
pf = policies.GuassianContPolicy(
input_shape=env.observation_space.shape[0],
output_shape=2 * env.action_space.shape[0],
**params['net'])
vf = networks.Net(input_shape=env.observation_space.shape[0],
output_shape=1,
**params['net'])
qf1 = networks.FlattenNet(input_shape=env.observation_space.shape[0] +
env.action_space.shape[0],
output_shape=1,
**params['net'])
qf2 = networks.FlattenNet(input_shape=env.observation_space.shape[0] +
env.action_space.shape[0],
output_shape=1,
**params['net'])
pretrain_pf = policies.UniformPolicyContinuous(
env.action_space.shape[0])
return TwinSAC(pf=pf,
vf=vf,
qf1=qf1,
qf2=qf2,
pretrain_pf=pretrain_pf,
**params['twin_sac'],
**params['general_setting'])
if params['agent'] == 'td3':
pf = policies.DetContPolicy(input_shape=env.observation_space.shape[0],
output_shape=env.action_space.shape[0],
**params['net'])
qf1 = networks.FlattenNet(input_shape=env.observation_space.shape[0] +
env.action_space.shape[0],
output_shape=1,
**params['net'])
qf2 = networks.FlattenNet(input_shape=env.observation_space.shape[0] +
env.action_space.shape[0],
output_shape=1,
**params['net'])
pretrain_pf = policies.UniformPolicyContinuous(
env.action_space.shape[0])
return TD3(pf=pf,
qf1=qf1,
qf2=qf2,
pretrain_pf=pretrain_pf,
**params['td3'],
**params['general_setting'])
if params['agent'] == 'ddpg':
pf = policies.DetContPolicy(input_shape=env.observation_space.shape[0],
output_shape=env.action_space.shape[0],
**params['net'])
qf = networks.FlattenNet(input_shape=env.observation_space.shape[0] +
env.action_space.shape[0],
output_shape=1,
**params['net'])
pretrain_pf = policies.UniformPolicyContinuous(
env.action_space.shape[0])
return DDPG(pf=pf,
qf=qf,
pretrain_pf=pretrain_pf,
**params['ddpg'],
**params['general_setting'])
if params['agent'] == 'dqn':
qf = networks.Net(input_shape=env.observation_space.shape,
output_shape=env.action_space.n,
**params['net'])
pf = policies.EpsilonGreedyDQNDiscretePolicy(
qf=qf, action_shape=env.action_space.n, **params['policy'])
pretrain_pf = policies.UniformPolicyDiscrete(
action_num=env.action_space.n)
params["general_setting"]["optimizer_class"] = optim.RMSprop
return DQN(pf=pf,
qf=qf,
pretrain_pf=pretrain_pf,
**params["dqn"],
**params["general_setting"])
if params['agent'] == 'bootstrapped dqn':
qf = networks.BootstrappedNet(
input_shape=env.observation_space.shape,
output_shape=env.action_space.n,
head_num=params['bootstrapped dqn']['head_num'],
**params['net'])
pf = policies.BootstrappedDQNDiscretePolicy(
qf=qf,
head_num=params['bootstrapped dqn']['head_num'],
action_shape=env.action_space.n,
**params['policy'])
pretrain_pf = policies.UniformPolicyDiscrete(
action_num=env.action_space.n)
params["general_setting"]["optimizer_class"] = optim.RMSprop
return BootstrappedDQN(pf=pf,
qf=qf,
pretrain_pf=pretrain_pf,
**params["bootstrapped dqn"],
**params["general_setting"])
if params['agent'] == 'qrdqn':
qf = networks.Net(input_shape=env.observation_space.shape,
output_shape=env.action_space.n *
params["qrdqn"]["quantile_num"],
**params['net'])
pf = policies.EpsilonGreedyQRDQNDiscretePolicy(
qf=qf, action_shape=env.action_space.n, **params['policy'])
pretrain_pf = policies.UniformPolicyDiscrete(
action_num=env.action_space.n)
return QRDQN(pf=pf,
qf=qf,
pretrain_pf=pretrain_pf,
**params["qrdqn"],
**params["general_setting"])
# On Policy Methods
act_space = env.action_space
params[params['agent']]['continuous'] = isinstance(act_space,
gym.spaces.Box)
buffer_param = params['replay_buffer']
buffer = replay_buffers.OnPolicyReplayBuffer(int(buffer_param['size']))
params['general_setting']['replay_buffer'] = buffer
if params[params['agent']]['continuous']:
pf = policies.GuassianContPolicy(
input_shape=env.observation_space.shape,
output_shape=2 * env.action_space.shape[0],
**params['net'])
else:
print(params['policy'])
print(params['net'])
# print(**params['policy'])
pf = policies.CategoricalDisPolicy(
input_shape=env.observation_space.shape,
output_shape=env.action_space.n,
**params['net'],
**params['policy'])
if params['agent'] == 'reinforce':
return Reinforce(pf=pf,
**params["reinforce"],
**params["general_setting"])
# Actor-Critic Frameworks
vf = networks.Net(input_shape=env.observation_space.shape,
output_shape=1,
**params['net'])
if params['agent'] == 'a2c':
return A2C(pf=pf, vf=vf, **params["a2c"], **params["general_setting"])
if params['agent'] == 'ppo':
return PPO(pf=pf, vf=vf, **params["ppo"], **params["general_setting"])
raise Exception("specified algorithm is not implemented")
def experiment(args):
device = torch.device("cuda:{}".format(args.device) if args.cuda else "cpu")
env, cls_dicts, cls_args = get_meta_env( params['env_name'], params['env'], params['meta_env'])
env.seed(args.seed)
torch.manual_seed(args.seed)
np.random.seed(args.seed)
if args.cuda:
torch.backends.cudnn.deterministic=True
buffer_param = params['replay_buffer']
experiment_name = os.path.split( os.path.splitext( args.config )[0] )[-1] if args.id is None \
else args.id
logger = Logger( experiment_name , params['env_name'], args.seed, params, args.log_dir )
params['general_setting']['env'] = env
params['general_setting']['logger'] = logger
params['general_setting']['device'] = device
params['net']['base_type']=networks.MLPBase
import torch.multiprocessing as mp
mp.set_start_method('spawn', force=True)
from torchrl.networks.init import normal_init
pf = policies.GuassianContPolicy(
input_shape = env.observation_space.shape[0],
output_shape = 2 * env.action_space.shape[0],
**params['net'] )
qf1 = networks.FlattenNet(
input_shape = env.observation_space.shape[0] + env.action_space.shape[0],
output_shape = 1,
**params['net'] )
qf2 = networks.FlattenNet(
input_shape = env.observation_space.shape[0] + env.action_space.shape[0],
output_shape = 1,
**params['net'] )
example_ob = env.reset()
example_dict = {
"obs": example_ob,
"next_obs": example_ob,
"acts": env.action_space.sample(),
"rewards": [0],
"terminals": [False],
"task_idxs": [0]
}
replay_buffer = AsyncSharedReplayBuffer( int(buffer_param['size']),
args.worker_nums
)
replay_buffer.build_by_example(example_dict)
params['general_setting']['replay_buffer'] = replay_buffer
epochs = params['general_setting']['pretrain_epochs'] + \
params['general_setting']['num_epochs']
print(env.action_space)
print(env.observation_space)
params['general_setting']['collector'] = AsyncMultiTaskParallelCollectorUniform(
env=env, pf=pf, replay_buffer=replay_buffer,
env_cls = cls_dicts, env_args = [params["env"], cls_args, params["meta_env"]],
device=device,
reset_idx=True,
epoch_frames=params['general_setting']['epoch_frames'],
max_episode_frames=params['general_setting']['max_episode_frames'],
eval_episodes = params['general_setting']['eval_episodes'],
worker_nums=args.worker_nums, eval_worker_nums=args.eval_worker_nums,
train_epochs = epochs, eval_epochs= params['general_setting']['num_epochs']
)
params['general_setting']['batch_size'] = int(params['general_setting']['batch_size'])
params['general_setting']['save_dir'] = osp.join(logger.work_dir,"model")
agent = MTSAC(
pf = pf,
qf1 = qf1,
qf2 = qf2,
task_nums=env.num_tasks,
**params['sac'],
**params['general_setting']
)
agent.train()