def load_checkpoint(file_dir, i_epoch, layer_sizes, input_size, device='cuda'):
checkpoint = torch.load(os.path.join(file_dir, "ckpt_eps%d.pt" % i_epoch),
map_location=device)
policy_net = PolicyNet(layer_sizes).to(device)
value_net = ValueNet(input_size).to(device)
policy_net.load_state_dict(checkpoint["policy_net"])
policy_net.train()
value_net.load_state_dict(checkpoint["value_net"])
value_net.train()
policy_lr = checkpoint["policy_lr"]
valuenet_lr = checkpoint["valuenet_lr"]
policynet_optim = optim.Adam(policy_net.parameters(), lr=policy_lr)
policynet_optim.load_state_dict(checkpoint["policynet_optim"])
valuenet_optim = optim.Adam(value_net.parameters(), lr=valuenet_lr)
valuenet_optim.load_state_dict(checkpoint["valuenet_optim"])
checkpoint.pop("policy_net")
checkpoint.pop("value_net")
checkpoint.pop("policynet_optim")
checkpoint.pop("valuenet_optim")
checkpoint.pop("i_epoch")
checkpoint.pop("policy_lr")
checkpoint.pop("valuenet_lr")
return policy_net, value_net, policynet_optim, valuenet_optim, checkpoint
def load_checkpoint(file_dir, i_epoch, layer_sizes, device='cuda'):
checkpoint = torch.load(os.path.join(file_dir, "ckpt_eps%d.pt" % i_epoch))
policy_net = PolicyNet(layer_sizes).to(device)
policy_net.load_state_dict(checkpoint["policy_net"])
policy_net.train()
learning_rate = checkpoint["learning_rate"]
optimizer = optim.Adam(policy_net.parameters())
# optimizer = optim.SGD(policy_net.parameters(), lr=learning_rate)
optimizer.load_state_dict(checkpoint["optimizer"])
checkpoint.pop("policy_net")
checkpoint.pop("optimizer")
checkpoint.pop("i_epoch")
checkpoint.pop("learning_rate")
return policy_net, optimizer, checkpoint
policy_net, optimizer, training_info = load_checkpoint(ckpt_dir, i_epoch, layer_sizes, device=device)
# Initialize the environment and state
observation = env.reset()
current_state = torch.tensor([observation], device=device, dtype=torch.float32)
traj_log_prob = None
traj_reward = None
running_reward = 0
episode_durations = []
episode_rewards = []
for t in count():
# Make sure that policy net is in training mode
policy_net.train()
# Sample an action given the current state
action, log_prob = policy_net(current_state)
# Interact with the environment
observation, reward, done, _ = env.step(action.item())
# Render this episode
if render_each_episode or (not finished_rendering_this_epoch):
env.render()
# Record action log_prob
if traj_log_prob is None:
traj_log_prob = log_prob
else:
def main():
#Parse arguments
#----------------------------
parser = argparse.ArgumentParser()
parser.add_argument("--env", default="CartPole-v0")
parser.add_argument("--conti", action="store_true")
parser.add_argument("--unwrap", action="store_true")
args = parser.parse_args()
#Parameters
#----------------------------
n_env = 8
n_step = 128
mb_size = n_env * n_step
sample_mb_size = 64
sample_n_epoch = 4
clip_val = 0.2
lamb = 0.95
gamma = 0.99
ent_weight = 0.0
max_grad_norm = 0.5
beta = 0.1
lr = 1e-4
n_iter = 30000
disp_step = 30
save_step = 300
save_dir = "./save"
device = "cuda:0"
expert_path = "../save/{}_traj.pkl".format(args.env)
#Create multiple environments
#----------------------------
env = MultiEnv([
make_env(i,
env_id=args.env,
unwrap=args.unwrap,
rand_seed=int(time.time())) for i in range(n_env)
])
if args.conti:
s_dim = env.ob_space.shape[0]
a_dim = env.ac_space.shape[0]
else:
s_dim = env.ob_space.shape[0]
a_dim = env.ac_space.n
runner = EnvRunner(env,
s_dim,
a_dim,
n_step,
gamma,
lamb,
device=device,
conti=args.conti)
#Load expert trajectories
#----------------------------
if os.path.exists(expert_path):
s_real, a_real = pkl.load(open(expert_path, "rb"))
sa_real = []
if args.conti:
for i in range(len(s_real)):
sa_real.append(np.concatenate([s_real[i], a_real[i]], 1))
else:
for i in range(len(s_real)):
a_real_onehot = np.zeros((len(a_real[i]), a_dim),
dtype=np.float32)
for j in range(len(a_real[i])):
a_real_onehot[j, a_real[i][j]] = 1
sa_real.append(np.concatenate([s_real[i], a_real_onehot], 1))
sa_real = np.concatenate(sa_real, 0)
else:
print("ERROR: No expert trajectory file found")
sys.exit(1)
#Create model
#----------------------------
policy_net = PolicyNet(s_dim, a_dim, conti=args.conti).to(device)
value_net = ValueNet(s_dim).to(device)
dis_net = DiscriminatorNet(s_dim + a_dim).to(device)
agent = PPO(policy_net,
value_net,
dis_net,
a_dim,
beta,
lr,
max_grad_norm,
ent_weight,
clip_val,
sample_n_epoch,
sample_mb_size,
mb_size,
device=device,
conti=args.conti)
#Load model
#----------------------------
if not os.path.exists(save_dir):
os.mkdir(save_dir)
if os.path.exists(os.path.join(save_dir, "{}.pt".format(args.env))):
print("Loading the model ... ", end="")
checkpoint = torch.load(
os.path.join(save_dir, "{}.pt".format(args.env)))
policy_net.load_state_dict(checkpoint["PolicyNet"])
value_net.load_state_dict(checkpoint["ValueNet"])
dis_net.load_state_dict(checkpoint["DiscriminatorNet"])
agent.beta = checkpoint["beta"]
start_it = checkpoint["it"]
print("Done.")
else:
start_it = 0
#Start training
#----------------------------
t_start = time.time()
policy_net.train()
value_net.train()
for it in range(start_it, n_iter):
#Run the environment
with torch.no_grad():
mb_obs, mb_actions, mb_old_a_logps, mb_values, mb_returns = runner.run(
policy_net, value_net, dis_net)
mb_advs = mb_returns - mb_values
mb_advs = (mb_advs - mb_advs.mean()) / (mb_advs.std() + 1e-6)
#Train
pg_loss, v_loss, ent, dis_loss, dis_real, dis_fake, avg_kl = agent.train(
policy_net, value_net, dis_net, mb_obs, mb_actions, mb_values,
mb_advs, mb_returns, mb_old_a_logps, sa_real)
#Print the result
if it % disp_step == 0:
agent.lr_decay(it, n_iter)
policy_net.eval()
value_net.eval()
n_sec = time.time() - t_start
fps = int((it - start_it) * n_env * n_step / n_sec)
mean_true_return, std_true_return, mean_return, std_return, mean_len = runner.get_performance(
)
policy_net.train()
value_net.train()
print("[{:5d} / {:5d}]".format(it, n_iter))
print("----------------------------------")
print("Timesteps = {:d}".format((it - start_it) * mb_size))
print("Elapsed time = {:.2f} sec".format(n_sec))
print("FPS = {:d}".format(fps))
print("actor loss = {:.6f}".format(pg_loss))
print("critic loss = {:.6f}".format(v_loss))
print("dis loss = {:.6f}".format(dis_loss))
print("entropy = {:.6f}".format(ent))
print("avg_kl = {:.6f}".format(avg_kl))
print("beta = {:.6f}".format(agent.beta))
print("mean true return = {:.6f}".format(mean_true_return))
print("mean return = {:.6f}".format(mean_return))
print("mean length = {:.2f}".format(mean_len))
print("dis_real = {:.3f}".format(dis_real))
print("dis_fake = {:.3f}".format(dis_fake))
print()
#Save model
if it % save_step == 0:
print("Saving the model ... ", end="")
torch.save(
{
"beta": agent.beta,
"it": it,
"PolicyNet": policy_net.state_dict(),
"ValueNet": value_net.state_dict(),
"DiscriminatorNet": dis_net.state_dict()
}, os.path.join(save_dir, "{}.pt".format(args.env)))
print("Done.")
print()
env.close()
def main():
#Parse arguments
#----------------------------
parser = argparse.ArgumentParser()
parser.add_argument("--env", default="CartPole-v0")
parser.add_argument("--conti", action="store_true")
parser.add_argument("--unwrap", action="store_true")
args = parser.parse_args()
#Parameters
#----------------------------
n_env = 8
n_step = 128
mb_size = n_env * n_step
sample_mb_size = 64
sample_n_epoch = 4
clip_val = 0.2
lamb = 0.95
gamma = 0.99
ent_weight = 0.0
max_grad_norm = 0.5
lr = 1e-4
n_iter = 30000
disp_step = 30
save_step = 300
save_dir = "./save"
device = "cuda:0"
#Create multiple environments
#----------------------------
env = MultiEnv([
make_env(i,
env_id=args.env,
unwrap=args.unwrap,
rand_seed=int(time.time())) for i in range(n_env)
])
if args.conti:
s_dim = env.ob_space.shape[0]
a_dim = env.ac_space.shape[0]
else:
s_dim = env.ob_space.shape[0]
a_dim = env.ac_space.n
runner = EnvRunner(env,
s_dim,
a_dim,
n_step,
gamma,
lamb,
device=device,
conti=args.conti)
#Create model
#----------------------------
policy_net = PolicyNet(s_dim, a_dim, conti=args.conti).to(device)
value_net = ValueNet(s_dim).to(device)
agent = PPO(policy_net,
value_net,
lr,
max_grad_norm,
ent_weight,
clip_val,
sample_n_epoch,
sample_mb_size,
mb_size,
device=device)
#Load model
#----------------------------
if not os.path.exists(save_dir):
os.mkdir(save_dir)
if os.path.exists(os.path.join(save_dir, "{}.pt".format(args.env))):
print("Loading the model ... ", end="")
checkpoint = torch.load(
os.path.join(save_dir, "{}.pt".format(args.env)))
policy_net.load_state_dict(checkpoint["PolicyNet"])
value_net.load_state_dict(checkpoint["ValueNet"])
start_it = checkpoint["it"]
print("Done.")
else:
start_it = 0
#Start training
#----------------------------
t_start = time.time()
policy_net.train()
value_net.train()
for it in range(start_it, n_iter):
#Run the environment
with torch.no_grad():
mb_obs, mb_actions, mb_old_a_logps, mb_values, mb_returns = runner.run(
policy_net, value_net)
mb_advs = mb_returns - mb_values
mb_advs = (mb_advs - mb_advs.mean()) / (mb_advs.std() + 1e-6)
#Train
pg_loss, v_loss, ent = agent.train(policy_net, value_net, mb_obs,
mb_actions, mb_values, mb_advs,
mb_returns, mb_old_a_logps)
#Print the result
if it % disp_step == 0:
agent.lr_decay(it, n_iter)
policy_net.eval()
value_net.eval()
n_sec = time.time() - t_start
fps = int((it - start_it) * n_env * n_step / n_sec)
mean_return, std_return, mean_len = runner.get_performance()
policy_net.train()
value_net.train()
print("[{:5d} / {:5d}]".format(it, n_iter))
print("----------------------------------")
print("Timesteps = {:d}".format((it - start_it) * mb_size))
print("Elapsed time = {:.2f} sec".format(n_sec))
print("FPS = {:d}".format(fps))
print("actor loss = {:.6f}".format(pg_loss))
print("critic loss = {:.6f}".format(v_loss))
print("entropy = {:.6f}".format(ent))
print("mean return = {:.6f}".format(mean_return))
print("mean length = {:.2f}".format(mean_len))
print()
#Save model
if it % save_step == 0:
print("Saving the model ... ", end="")
torch.save(
{
"it": it,
"PolicyNet": policy_net.state_dict(),
"ValueNet": value_net.state_dict()
}, os.path.join(save_dir, "{}.pt".format(args.env)))
print("Done.")
print()
env.close()
def main():
#Parse arguments
#----------------------------
parser = argparse.ArgumentParser()
parser.add_argument("--env", default="CartPole-v0")
parser.add_argument("--conti", action="store_true")
args = parser.parse_args()
#Parameters
#----------------------------
env_id = args.env
mb_size = 256
lr = 1e-5
n_iter = 100000
disp_step = 1000
save_step = 10000
save_dir = "./save"
device = "cuda:0"
expert_path = "../save/{}_traj.pkl".format(args.env)
#Create environment
#----------------------------
env = gym.make(env_id)
if args.conti:
s_dim = env.observation_space.shape[0]
a_dim = env.action_space.shape[0]
else:
s_dim = env.observation_space.shape[0]
a_dim = env.action_space.n
#Load expert trajectories
#----------------------------
if os.path.exists(expert_path):
s_traj, a_traj = pkl.load(open(expert_path, "rb"))
s_traj = np.concatenate(s_traj, 0)
a_traj = np.concatenate(a_traj, 0)
else:
print("ERROR: No expert trajectory file found")
sys.exit(1)
#Create model
#----------------------------
policy_net = PolicyNet(s_dim, a_dim, conti=args.conti).to(device)
opt = torch.optim.Adam(policy_net.parameters(), lr)
#Load model
#----------------------------
if not os.path.exists(save_dir):
os.mkdir(save_dir)
if os.path.exists(os.path.join(save_dir, "{}.pt".format(args.env))):
print("Loading the model ... ", end="")
checkpoint = torch.load(
os.path.join(save_dir, "{}.pt".format(args.env)))
policy_net.load_state_dict(checkpoint["PolicyNet"])
start_it = checkpoint["it"]
print("Done.")
else:
start_it = 0
#Start training
#----------------------------
t_start = time.time()
policy_net.train()
for it in range(start_it, n_iter + 1):
#Train
mb_obs, mb_actions = sample_batch(s_traj, a_traj, mb_size)
mb_a_logps, mb_ents = policy_net.evaluate(
torch.from_numpy(mb_obs).to(device),
torch.from_numpy(mb_actions).to(device))
loss = -mb_a_logps.mean()
opt.zero_grad()
loss.backward()
opt.step()
#Print the result
if it % disp_step == 0:
print("[{:5d} / {:5d}] Elapsed time = {:.2f}, actor loss = {:.6f}".
format(it, n_iter,
time.time() - t_start, loss.item()))
#Save model
if it % save_step == 0:
print("Saving the model ... ", end="")
torch.save({
"it": it,
"PolicyNet": policy_net.state_dict()
}, os.path.join(save_dir, "{}.pt".format(args.env)))
print("Done.")
print()
env.close()
def main():
#Parse arguments
#----------------------------
parser = argparse.ArgumentParser()
parser.add_argument("--env", default="BipedalWalker-v3")
parser.add_argument("--discrete", action="store_true")
parser.add_argument("--unwrap", action="store_true")
args = parser.parse_args()
#Parameters
#----------------------------
clip_val = 0.2
sample_mb_size = 64
sample_n_epoch = 4
lamb = 0.95
gamma = 0.99
ent_weight = 0.01
max_grad_norm = 0.5
lr = 1e-4
n_iter = 10000
disp_step = 30
save_step = 300
save_dir = "./save"
device = "cuda:0" if torch.cuda.is_available() else "cpu"
#Create environment
#----------------------------
env = gym.make(args.env)
if args.discrete:
s_dim = env.observation_space.shape[0]
a_dim = env.action_space.n
else:
s_dim = env.observation_space.shape[0]
a_dim = env.action_space.shape[0]
if args.unwrap:
env = env.unwrapped
runner = EnvRunner(s_dim,
a_dim,
gamma,
lamb,
max_step=2048,
device=device,
conti=not args.discrete)
#Create model
#----------------------------
policy_net = PolicyNet(s_dim, a_dim, conti=not args.discrete).to(device)
value_net = ValueNet(s_dim).to(device)
agent = PPO(policy_net,
value_net,
lr,
max_grad_norm,
ent_weight,
clip_val,
sample_n_epoch,
sample_mb_size,
device=device)
#Load model
#----------------------------
if not os.path.exists(save_dir):
os.mkdir(save_dir)
if os.path.exists(os.path.join(save_dir, "{}.pt".format(args.env))):
print("Loading the model ... ", end="")
checkpoint = torch.load(
os.path.join(save_dir, "{}.pt".format(args.env)))
policy_net.load_state_dict(checkpoint["PolicyNet"])
value_net.load_state_dict(checkpoint["ValueNet"])
start_it = checkpoint["it"]
print("Done.")
else:
start_it = 0
#Start training
#----------------------------
t_start = time.time()
policy_net.train()
value_net.train()
mean_total_reward = 0
mean_length = 0
for it in range(start_it, n_iter):
#Run the environment
with torch.no_grad():
mb_obs, mb_actions, mb_old_a_logps, mb_values, mb_returns, mb_rewards = runner.run(
env, policy_net, value_net)
mb_advs = mb_returns - mb_values
mb_advs = (mb_advs - mb_advs.mean()) / (mb_advs.std() + 1e-6)
#Train
pg_loss, v_loss, ent = agent.train(policy_net, value_net, mb_obs,
mb_actions, mb_values, mb_advs,
mb_returns, mb_old_a_logps)
mean_total_reward += mb_rewards.sum()
mean_length += len(mb_obs)
print("[Episode {:4d}] total reward = {:.6f}, length = {:d}".format(
it, mb_rewards.sum(), len(mb_obs)))
#Print the result
if it % disp_step == 0:
print("\n[{:5d} / {:5d}]".format(it, n_iter))
print("----------------------------------")
print("Elapsed time = {:.2f} sec".format(time.time() - t_start))
print("actor loss = {:.6f}".format(pg_loss))
print("critic loss = {:.6f}".format(v_loss))
print("entropy = {:.6f}".format(ent))
print("mean return = {:.6f}".format(mean_total_reward /
disp_step))
print("mean length = {:.2f}".format(mean_length / disp_step))
print()
agent.lr_decay(it, n_iter)
mean_total_reward = 0
mean_length = 0
#Save model
if it % save_step == 0:
print("Saving the model ... ", end="")
torch.save(
{
"it": it,
"PolicyNet": policy_net.state_dict(),
"ValueNet": value_net.state_dict()
}, os.path.join(save_dir, "{}.pt".format(args.env)))
print("Done.")
print()
env.close()