def train(log_dir):
"""Performs the agent traning.
Args:
log_dir (str): The directory in which the final model (policy) and the
log data is saved.
"""
# Create environment
env = get_env_from_name(ENV_NAME, ENV_SEED)
# Set initial learning rates
lr_a, lr_l = (
ALG_PARAMS["lr_a"],
ALG_PARAMS["lr_l"],
)
lr_a_now = ALG_PARAMS["lr_a"] # learning rate for actor, lambda and alpha
lr_l_now = ALG_PARAMS["lr_l"] # learning rate for lyapunov critic
# Get observation and action space dimension and limits from the environment
s_dim = env.observation_space.shape[0]
a_dim = env.action_space.shape[0]
a_upperbound = env.action_space.high
a_lowerbound = env.action_space.low
# Create the Lyapunov Actor Critic agent
policy = LAC(a_dim, s_dim, log_dir=log_dir)
# Create replay memory buffer
pool = Pool(
s_dim=s_dim,
a_dim=a_dim,
store_last_n_paths=TRAIN_PARAMS["num_of_training_paths"],
memory_capacity=ALG_PARAMS["memory_capacity"],
min_memory_size=ALG_PARAMS["min_memory_size"],
)
# Training setting
t1 = time.time()
global_step = 0
tb_step = 0
last_training_paths = deque(maxlen=TRAIN_PARAMS["num_of_training_paths"])
training_started = False
# Create tensorboard variables
tb_lr_a = tf.Variable(lr_a, dtype=tf.float32)
tb_lr_l = tf.Variable(lr_l, dtype=tf.float32)
tb_lr_lag = tf.Variable(lr_a, dtype=tf.float32)
tb_ret = tf.Variable(0, dtype=tf.float32)
tb_len = tf.Variable(0, dtype=tf.float32)
tb_a_loss = tf.Variable(0, dtype=tf.float32)
tb_lyapunov_error = tf.Variable(0, dtype=tf.float32)
tb_entropy = tf.Variable(0, dtype=tf.float32)
# Initialize tensorboard variables and create summaries
if USE_TB:
policy.sess.run(
[
tb_lr_a.initializer,
tb_lr_l.initializer,
tb_lr_lag.initializer,
tb_ret.initializer,
tb_len.initializer,
tb_a_loss.initializer,
tb_lyapunov_error.initializer,
tb_entropy.initializer,
]
)
# Add tensorboard summaries
main_sum = tf.compat.v1.summary.merge(
[
tf.compat.v1.summary.scalar("lr_a", tb_lr_a),
tf.compat.v1.summary.scalar("lr_l", tb_lr_l),
tf.compat.v1.summary.scalar("lr_lag", tb_lr_lag),
tf.compat.v1.summary.scalar("alpha", policy.alpha),
tf.compat.v1.summary.scalar("lambda", policy.labda),
]
)
other_sum = tf.compat.v1.summary.merge(
[
tf.compat.v1.summary.scalar("ep_ret", tb_ret),
tf.compat.v1.summary.scalar("ep_length", tb_len),
tf.compat.v1.summary.scalar("a_loss", tb_a_loss),
tf.compat.v1.summary.scalar("lyapunov_error", tb_lyapunov_error),
tf.compat.v1.summary.scalar("entropy", tb_entropy),
]
)
policy.tb_writer.add_summary(
policy.sess.run(main_sum), policy.sess.run(policy.step)
)
if WRITE_W_B:
policy.tb_writer.add_summary(
policy.sess.run(policy.w_b_sum), policy.sess.run(policy.step),
)
policy.tb_writer.flush() # Above summaries are known from the start
# Setup logger and log hyperparameters
logger.configure(dir=log_dir, format_strs=["csv"])
logger.logkv("tau", ALG_PARAMS["tau"])
logger.logkv("alpha3", ALG_PARAMS["alpha3"])
logger.logkv("batch_size", ALG_PARAMS["batch_size"])
logger.logkv("target_entropy", policy.target_entropy)
# Training loop
for i in range(ENV_PARAMS["max_episodes"]):
# Create variable to store information about the current path
current_path = {
"rewards": [],
"a_loss": [],
"alpha": [],
"lambda": [],
"lyapunov_error": [],
"entropy": [],
}
# Stop training if max number of steps has been reached
if global_step > ENV_PARAMS["max_global_steps"]:
break
# Reset environment
s = env.reset()
# Training Episode loop
for j in range(ENV_PARAMS["max_ep_steps"]):
# Render environment if requested
if ENV_PARAMS["eval_render"]:
env.render()
# Retrieve (scaled) action based on the current policy
a = policy.choose_action(s)
# a = np.squeeze(np.random.uniform(low=-1.0, high=1.0, size=(1, 2))) # DEBUG
action = a_lowerbound + (a + 1.0) * (a_upperbound - a_lowerbound) / 2
# Perform action in env
s_, r, done, _ = env.step(action)
# Increment global step count
if training_started:
global_step += 1
# Stop episode if max_steps has been reached
if j == ENV_PARAMS["max_ep_steps"] - 1:
done = True
terminal = 1.0 if done else 0.0
# Store experience in replay buffer
pool.store(s, a, r, terminal, s_)
# Increment tensorboard step counter
# NOTE: This was done differently from the global_step counter since
# otherwise there were inconsistencies in the tb log.
if USE_TB:
tb_step += 1
# Optimize weights and parameters using STG
if (
pool.memory_pointer > ALG_PARAMS["min_memory_size"]
and global_step % ALG_PARAMS["steps_per_cycle"] == 0
):
training_started = True
# Perform STG a set number of times (train per cycle)
for _ in range(ALG_PARAMS["train_per_cycle"]):
batch = pool.sample(ALG_PARAMS["batch_size"])
labda, alpha, l_loss, entropy, a_loss = policy.learn(
lr_a_now, lr_l_now, lr_a, batch
)
# Save path results
if training_started:
current_path["rewards"].append(r)
current_path["lyapunov_error"].append(l_loss)
current_path["alpha"].append(alpha)
current_path["lambda"].append(labda)
current_path["entropy"].append(entropy)
current_path["a_loss"].append(a_loss)
# Evalute the current performance and log results
if (
training_started
and global_step % TRAIN_PARAMS["evaluation_frequency"] == 0
and global_step > 0
):
logger.logkv("total_timesteps", global_step)
training_diagnostics = evaluate_training_rollouts(last_training_paths)
if training_diagnostics is not None:
if TRAIN_PARAMS["num_of_evaluation_paths"] > 0:
eval_diagnostics = training_evaluation(env, policy)
[
logger.logkv(key, eval_diagnostics[key])
for key in eval_diagnostics.keys()
]
training_diagnostics.pop("return")
[
logger.logkv(key, training_diagnostics[key])
for key in training_diagnostics.keys()
]
logger.logkv("lr_a", lr_a_now)
logger.logkv("lr_l", lr_l_now)
string_to_print = ["time_step:", str(global_step), "|"]
if TRAIN_PARAMS["num_of_evaluation_paths"] > 0:
[
string_to_print.extend(
[key, ":", str(eval_diagnostics[key]), "|"]
)
for key in eval_diagnostics.keys()
]
[
string_to_print.extend(
[key, ":", str(round(training_diagnostics[key], 2)), "|"]
)
for key in training_diagnostics.keys()
]
print("".join(string_to_print))
logger.dumpkvs()
# Update state
s = s_
# Decay learning rate
if done:
# Store paths
if training_started:
last_training_paths.appendleft(current_path)
# Get current model performance for tb
if USE_TB:
training_diagnostics = evaluate_training_rollouts(
last_training_paths
)
# Log tb variables
if USE_TB:
if i % TB_FREQ == 0:
# Update and log learning rate tb vars
policy.sess.run(policy.step.assign(tb_step))
policy.sess.run(tb_lr_a.assign(lr_a_now))
policy.sess.run(tb_lr_l.assign(lr_l_now))
policy.sess.run(tb_lr_lag.assign(lr_a))
policy.tb_writer.add_summary(
policy.sess.run(main_sum), policy.sess.run(policy.step)
)
# Update and log other training vars to tensorboard
if training_started:
# Update and log training vars
policy.sess.run(
tb_ret.assign(training_diagnostics["return"])
)
policy.sess.run(
tb_len.assign(training_diagnostics["length"])
)
policy.sess.run(
tb_a_loss.assign(training_diagnostics["a_loss"])
)
policy.sess.run(
tb_lyapunov_error.assign(
training_diagnostics["lyapunov_error"]
)
)
policy.sess.run(
tb_entropy.assign(training_diagnostics["entropy"])
)
policy.tb_writer.add_summary(
policy.sess.run(other_sum), policy.sess.run(policy.step)
)
# Log network weights
if WRITE_W_B:
policy.tb_writer.add_summary(
policy.sess.run(policy.w_b_sum),
policy.sess.run(policy.step),
)
policy.tb_writer.flush()
# Decay learning rates
frac = 1.0 - (global_step - 1.0) / ENV_PARAMS["max_global_steps"]
lr_a_now = lr_a * frac # learning rate for actor, lambda, alpha
lr_l_now = lr_l * frac # learning rate for lyapunov critic
break
# Save model and print Running time
policy.save_result(log_dir)
# policy.tb_writer.close()
print("Running time: ", time.time() - t1)
return
dirname = os.path.dirname(__file__)
MODEL_PATH = os.path.abspath(
os.path.join(dirname, "./log/" + args.env_name + "/" + name))
LOG_PATH = os.path.abspath(os.path.join(MODEL_PATH, "figure"))
os.makedirs(LOG_PATH, exist_ok=True)
print("evaluating " + name)
print(f"Using model folder: {MODEL_PATH}")
print(f"In environment: {args.env_name}")
###########################################
# Create environment and setup policy #####
###########################################
# Create environment
env = get_env_from_name(args.env_name, ENV_SEED)
# Check if model exists
if not os.path.exists(MODEL_PATH):
print(
f"Shutting down robustness eval since model `{args.model_name}` was "
f"not found for the `{args.env_name}` environment.")
sys.exit(0)
# Get environment action and observation space dimensions
a_lowerbound = env.action_space.low
a_upperbound = env.action_space.high
s_dim = env.observation_space.shape[0]
a_dim = env.action_space.shape[0]
# Create policy
def train(log_dir):
"""Performs the agent traning.
Args:
log_dir (str): The directory in which the final model (policy) and the
log data is saved.
"""
# Create environment
print(f"Your training in the {ENV_NAME} environment.\n")
env = get_env_from_name(ENV_NAME, ENV_SEED)
test_env = get_env_from_name(ENV_NAME, ENV_SEED)
# Set initial learning rates
lr_a, lr_l = (
ALG_PARAMS["lr_a"],
ALG_PARAMS["lr_l"],
)
lr_a_now = ALG_PARAMS["lr_a"] # learning rate for actor, lambda and alpha
lr_l_now = ALG_PARAMS["lr_l"] # learning rate for lyapunov critic
# Get observation and action space dimension and limits from the environment
s_dim = env.observation_space.shape[0]
a_dim = env.action_space.shape[0]
a_upperbound = env.action_space.high
a_lowerbound = env.action_space.low
# Create the Lyapunov Actor Critic agent
policy = LAC(a_dim, s_dim)
# Load model if retraining is selected
if TRAIN_PARAMS["continue_training"]:
# Create retrain path
retrain_model_folder = TRAIN_PARAMS["continue_model_folder"]
retrain_model_path = os.path.abspath(
os.path.join(log_dir,
"../../" + TRAIN_PARAMS["continue_model_folder"]))
# Check if retrain model exists if not throw error
if not os.path.exists(retrain_model_path):
print(
"Shutting down training since the model you specified in the "
f"`continue_model_folder` `{retrain_model_folder}` "
f"argument was not found for the `{ENV_NAME}` environment.")
sys.exit(0)
# Load retrain model
print(f"Restoring model `{retrain_model_path}`")
result = policy.restore(os.path.abspath(retrain_model_path +
"/policy"))
if not result:
print(
"Shuting down training as something went wrong while loading "
f"model `{retrain_model_folder}`.")
sys.exit(0)
# Create new storage folder
log_dir_split = log_dir.split("/")
log_dir_split[-2] = (
"_".join(TRAIN_PARAMS["continue_model_folder"].split("/")) +
"_finetune"
# + "_retrained_"
# + log_dir_split[-2]
)
log_dir = "/".join(log_dir_split)
# Reset lagrance multipliers if requested
if ALG_PARAMS["reset_lagrance_multipliers"]:
policy.sess.run(
policy.log_alpha.assign(tf.math.log(ALG_PARAMS["alpha"])))
policy.sess.run(
policy.log_labda.assign(tf.math.log(ALG_PARAMS["labda"])))
else:
print(f"Train new model `{log_dir}`")
# Print logging folder
print(f"Logging results to `{log_dir}`.")
# Create replay memory buffer
pool = Pool(
s_dim=s_dim,
a_dim=a_dim,
store_last_n_paths=TRAIN_PARAMS["num_of_training_paths"],
memory_capacity=ALG_PARAMS["memory_capacity"],
min_memory_size=ALG_PARAMS["min_memory_size"],
)
# Training setting
t1 = time.time()
global_step = 0
last_training_paths = deque(maxlen=TRAIN_PARAMS["num_of_training_paths"])
training_started = False
# Setup logger and log hyperparameters
logger.configure(dir=log_dir, format_strs=["csv"])
logger.logkv("tau", ALG_PARAMS["tau"])
logger.logkv("alpha3", ALG_PARAMS["alpha3"])
logger.logkv("batch_size", ALG_PARAMS["batch_size"])
logger.logkv("target_entropy", policy.target_entropy)
# Training loop
for i in range(ENV_PARAMS["max_episodes"]):
# Create variable to store information about the current path
current_path = {
"rewards": [],
"lyapunov_error": [],
"alpha": [],
"lambda": [],
"entropy": [],
"a_loss": [],
}
# Break out of loop if global steps have been reached
if global_step > ENV_PARAMS["max_global_steps"]:
# Print step count, save model and stop the program
print(f"Training stopped after {global_step} steps.")
print("Running time: ", time.time() - t1)
print("Saving Model")
policy.save_result(log_dir)
print("Running time: ", time.time() - t1)
return
# Reset environment
s = env.reset()
# Training Episode loop
for j in range(ENV_PARAMS["max_ep_steps"]):
# Save intermediate checkpoints if requested
if TRAIN_PARAMS["save_checkpoints"]:
if (global_step % TRAIN_PARAMS["checkpoint_save_freq"] == 0
and global_step != 0):
# Create intermediate result checkpoint folder
checkpoint_save_path = os.path.abspath(
os.path.join(log_dir, "checkpoints", "step_" + str(j)))
os.makedirs(checkpoint_save_path, exist_ok=True)
# Save intermediate checkpoint
policy.save_result(checkpoint_save_path)
# Render environment if requested
if ENV_PARAMS["eval_render"]:
env.render()
# Retrieve (scaled) action based on the current policy
a = policy.choose_action(s)
action = a_lowerbound + (a + 1.0) * (a_upperbound -
a_lowerbound) / 2
# Perform action in env
s_, r, done, _ = env.step(action)
# Increment global step count
if training_started:
global_step += 1
# Stop episode if max_steps has been reached
if j == ENV_PARAMS["max_ep_steps"] - 1:
done = True
terminal = 1.0 if done else 0.0
# Store experience in replay buffer
pool.store(s, a, r, terminal, s_)
# Optimize weights and parameters using STG
if (pool.memory_pointer > ALG_PARAMS["min_memory_size"]
and global_step % ALG_PARAMS["steps_per_cycle"] == 0):
training_started = True
# Perform STG a set number of times (train per cycle)
for _ in range(ALG_PARAMS["train_per_cycle"]):
batch = pool.sample(ALG_PARAMS["batch_size"])
labda, alpha, l_loss, entropy, a_loss = policy.learn(
lr_a_now, lr_l_now, lr_a, batch)
# Save path results
if training_started:
current_path["rewards"].append(r)
current_path["lyapunov_error"].append(l_loss)
current_path["alpha"].append(alpha)
current_path["lambda"].append(labda)
current_path["entropy"].append(entropy)
current_path["a_loss"].append(a_loss)
# Evalute the current performance and log results
if (training_started
and global_step % TRAIN_PARAMS["evaluation_frequency"] == 0
and global_step > 0):
logger.logkv("total_timesteps", global_step)
training_diagnostics = evaluate_training_rollouts(
last_training_paths)
if training_diagnostics is not None:
if TRAIN_PARAMS["num_of_evaluation_paths"] > 0:
eval_diagnostics = training_evaluation(
test_env, policy)
[
logger.logkv(key, eval_diagnostics[key])
for key in eval_diagnostics.keys()
]
training_diagnostics.pop("return")
[
logger.logkv(key, training_diagnostics[key])
for key in training_diagnostics.keys()
]
logger.logkv("lr_a", lr_a_now)
logger.logkv("lr_l", lr_l_now)
string_to_print = ["time_step:", str(global_step), "|"]
if TRAIN_PARAMS["num_of_evaluation_paths"] > 0:
[
string_to_print.extend(
[key, ":",
str(eval_diagnostics[key]), "|"])
for key in eval_diagnostics.keys()
]
[
string_to_print.extend([
key, ":",
str(round(training_diagnostics[key], 2)), "|"
]) for key in training_diagnostics.keys()
]
print("".join(string_to_print))
logger.dumpkvs()
# Update state
s = s_
# Decay learning rate
if done:
# Store paths
if training_started:
last_training_paths.appendleft(current_path)
# Decay learning rates
frac = 1.0 - (global_step -
1.0) / ENV_PARAMS["max_global_steps"]
lr_a_now = lr_a * frac # learning rate for actor, lambda, alpha
lr_l_now = lr_l * frac # learning rate for lyapunov critic
break
def dynamic(policy_path, env_name, env_params, alg_params, eval_params):
"""Performs dynamic robustness evaluation.
Args:
policy_path (str): Log path.
env_name (str): The gym environment you want to use.
alg_params (dict): Dictionary containing the algorithm parameters.
"""
# Retrieve environment
env = get_env_from_name(env_name, ENV_SEED)
# Get trained policy
s_dim = env.observation_space.shape[0]
a_dim = env.action_space.shape[0]
policy = LAC(a_dim, s_dim)
# Configure logger
log_path = policy_path + "/eval/dynamic/" + eval_params[
"additional_description"]
eval_params.update({"magnitude": 0})
logger.configure(dir=log_path, format_strs=["csv"])
# Evaluate policy results
_, paths = evaluation(policy_path, env_name, env, env_params, eval_params,
policy)
max_len = 0
print(len(paths))
for path in paths["s"]:
path_length = len(path)
if path_length > max_len:
max_len = path_length
average_path = np.average(np.array(paths["s"]), axis=0)
std_path = np.std(np.array(paths["s"]), axis=0)
for i in range(max_len):
logger.logkv("average_path", average_path[i])
logger.logkv("std_path", std_path[i])
logger.logkv("reference", paths["reference"][0][i])
logger.dumpkvs()
if eval_params["directly_show"]:
fig = plt.figure(figsize=(9, 6))
ax = fig.add_subplot(111)
if eval_params["plot_average"]:
t = range(max_len)
ax.plot(t, average_path, color="red")
ax.fill_between(
t,
average_path - std_path,
average_path + std_path,
color="red",
alpha=0.1,
)
plt.show()
else:
for path in paths["s"]:
path_length = len(path)
print(path_length)
t = range(path_length)
path = np.array(path)
# Ex3_EKF
fig = plt.figure()
ax = fig.add_subplot(111)
ax.plot(t, path, color="red")
plt.show()
ax.plot(t, np.array(path), color="blue", label="0.1")
plt.show()
def train(log_dir):
"""Performs the agent traning.
Args:
log_dir (str): The directory in which the final model (policy) and the
log data is saved.
"""
# Create environment
env = get_env_from_name(ENV_NAME, ENV_SEED)
# Set initial learning rates
lr_a, lr_l = (
ALG_PARAMS["lr_a"],
ALG_PARAMS["lr_l"],
)
lr_a_now = ALG_PARAMS["lr_a"] # learning rate for actor, lambda and alpha
lr_l_now = ALG_PARAMS["lr_l"] # learning rate for lyapunov critic
# Get observation and action space dimension and limits from the environment
s_dim = env.observation_space.shape[0]
a_dim = env.action_space.shape[0]
a_upperbound = env.action_space.high
a_lowerbound = env.action_space.low
# Create the Lyapunov Actor Critic agent
policy = LAC(a_dim, s_dim, log_dir=log_dir)
# Create replay memory buffer
pool = Pool(
s_dim=s_dim,
a_dim=a_dim,
store_last_n_paths=TRAIN_PARAMS["num_of_training_paths"],
memory_capacity=ALG_PARAMS["memory_capacity"],
min_memory_size=ALG_PARAMS["min_memory_size"],
)
# Training setting
t1 = time.time()
global_step = 0
last_training_paths = deque(maxlen=TRAIN_PARAMS["num_of_training_paths"])
training_started = False
# Log initial values to tensorboard
if DEBUG_PARAMS["use_tb"]:
# Trace learn method (Used for debugging)
if DEBUG_PARAMS["debug"]:
if DEBUG_PARAMS["trace_net"]:
# Create dummy input
batch = {
"s": tf.random.uniform((ALG_PARAMS["batch_size"], policy.s_dim)),
"a": tf.random.uniform((ALG_PARAMS["batch_size"], policy.a_dim)),
"r": tf.random.uniform((ALG_PARAMS["batch_size"], 1)),
"terminal": tf.zeros((ALG_PARAMS["batch_size"], 1)),
"s_": tf.random.uniform((ALG_PARAMS["batch_size"], policy.s_dim)),
}
# Trace learn method and log to tensorboard
tf.summary.trace_on(graph=True, profiler=True)
policy.learn(lr_a_now, lr_l_now, lr_a, batch)
with policy.tb_writer.as_default():
tf.summary.trace_export(
name="learn", step=0, profiler_outdir=log_dir
)
# Shut down as we are in debug mode
if DEBUG_PARAMS["trace_net"] or DEBUG_PARAMS["trace_learn"]:
print(
"Shutting down training as a trace was requested in debug mode. "
"This was done since during the trace a backward pass was performed "
"on dummy data. Please disable the trace to continue training "
"while being in debug mode."
)
sys.exit(0)
# Log initial values
with policy.tb_writer.as_default():
tf.summary.scalar("lr_a", lr_a_now, step=0)
tf.summary.scalar("lr_l", lr_l_now, step=0)
tf.summary.scalar("lr_lag", lr_a, step=0)
tf.summary.scalar("alpha", policy.alpha, step=0)
tf.summary.scalar("lambda", policy.labda, step=0)
# Setup logger and log hyperparameters
logger.configure(dir=log_dir, format_strs=["csv"])
logger.logkv("tau", ALG_PARAMS["tau"])
logger.logkv("alpha3", ALG_PARAMS["alpha3"])
logger.logkv("batch_size", ALG_PARAMS["batch_size"])
logger.logkv("target_entropy", policy.target_entropy)
# Training loop
for i in range(ENV_PARAMS["max_episodes"]):
# Create variable to store information about the current path
current_path = {
"rewards": [],
"a_loss": [],
"alpha": [],
"lambda": [],
"lyapunov_error": [],
"entropy": [],
}
# Stop training if max number of steps has been reached
if global_step > ENV_PARAMS["max_global_steps"]:
break
# Reset environment
s = env.reset()
# Training Episode loop
for j in range(ENV_PARAMS["max_ep_steps"]):
# Render environment if requested
if ENV_PARAMS["eval_render"]:
env.render()
# Retrieve (scaled) action based on the current policy
a = policy.choose_action(s)
# a = np.squeeze(np.random.uniform(low=-1.0, high=1.0, size=(1, 2))) # DEBUG
action = a_lowerbound + (a + 1.0) * (a_upperbound - a_lowerbound) / 2
# Perform action in env
s_, r, done, _ = env.step(action)
# Increment global step count
if training_started:
global_step += 1
# Stop episode if max_steps has been reached
if j == ENV_PARAMS["max_ep_steps"] - 1:
done = True
terminal = 1.0 if done else 0.0
# Increment tensorboard step counter
# NOTE: This was done differently from the global_step counter since
# otherwise there were inconsistencies in the tb log.
if DEBUG_PARAMS["use_tb"]:
policy.step += 1
# Store experience in replay buffer
pool.store(s, a, r, terminal, s_)
# Optimize weights and parameters using STG
if (
pool.memory_pointer > ALG_PARAMS["min_memory_size"]
and global_step % ALG_PARAMS["steps_per_cycle"] == 0
):
training_started = True
# Perform STG a set number of times (train per cycle)
for _ in range(ALG_PARAMS["train_per_cycle"]):
batch = pool.sample(ALG_PARAMS["batch_size"])
labda, alpha, l_loss, entropy, a_loss = policy.learn(
lr_a_now, lr_l_now, lr_a, batch
)
# Save path results
if training_started:
current_path["rewards"].append(r)
current_path["lyapunov_error"].append(l_loss)
current_path["alpha"].append(alpha)
current_path["lambda"].append(labda)
current_path["entropy"].append(entropy)
current_path["a_loss"].append(a_loss)
# Evalute the current performance and log results
if (
training_started
and global_step % TRAIN_PARAMS["evaluation_frequency"] == 0
and global_step > 0
):
logger.logkv("total_timesteps", global_step)
training_diagnostics = evaluate_training_rollouts(last_training_paths)
if training_diagnostics is not None:
if TRAIN_PARAMS["num_of_evaluation_paths"] > 0:
eval_diagnostics = training_evaluation(env, policy)
[
logger.logkv(key, eval_diagnostics[key])
for key in eval_diagnostics.keys()
]
training_diagnostics.pop("return")
[
logger.logkv(key, training_diagnostics[key])
for key in training_diagnostics.keys()
]
logger.logkv("lr_a", lr_a_now)
logger.logkv("lr_l", lr_l_now)
string_to_print = ["time_step:", str(global_step), "|"]
if TRAIN_PARAMS["num_of_evaluation_paths"] > 0:
[
string_to_print.extend(
[key, ":", str(eval_diagnostics[key]), "|"]
)
for key in eval_diagnostics.keys()
]
[
string_to_print.extend(
[key, ":", str(round(training_diagnostics[key], 2)), "|"]
)
for key in training_diagnostics.keys()
]
print("".join(string_to_print))
logger.dumpkvs()
# Update state
s = s_
# Decay learning rate
if done:
# Store paths
if training_started:
last_training_paths.appendleft(current_path)
# Get current model performance for tb
if DEBUG_PARAMS["use_tb"]:
training_diagnostics = evaluate_training_rollouts(
last_training_paths
)
# Log tb variables
if DEBUG_PARAMS["use_tb"]:
if i % DEBUG_PARAMS["tb_freq"] == 0:
# Log learning rate to tb
with policy.tb_writer.as_default():
tf.summary.scalar("lr_a", lr_a_now, step=policy.step)
tf.summary.scalar("lr_l", lr_l_now, step=policy.step)
tf.summary.scalar("lr_lag", lr_a, step=policy.step)
tf.summary.scalar("alpha", policy.alpha, step=policy.step)
tf.summary.scalar("lambda", policy.labda, step=policy.step)
# Update and log other training vars to tensorboard
if training_started:
with policy.tb_writer.as_default():
tf.summary.scalar(
"ep_ret",
training_diagnostics["return"],
step=policy.step,
)
tf.summary.scalar(
"ep_length",
training_diagnostics["length"],
step=policy.step,
)
tf.summary.scalar(
"a_loss",
training_diagnostics["a_loss"],
step=policy.step,
)
tf.summary.scalar(
"lyapunov_error",
training_diagnostics["lyapunov_error"],
step=policy.step,
)
tf.summary.scalar(
"entropy",
training_diagnostics["entropy"],
step=policy.step,
)
# Log network weights
if DEBUG_PARAMS["write_w_b"]:
with policy.tb_writer.as_default():
# GaussianActor weights/biases
tf.summary.histogram(
"Ga/l1/weights",
policy.ga.net_0.weights[0],
step=policy.step,
)
tf.summary.histogram(
"Ga/l1/bias",
policy.ga.net_0.weights[1],
step=policy.step,
)
tf.summary.histogram(
"Ga/l2/weights",
policy.ga.net_1.weights[0],
step=policy.step,
)
tf.summary.histogram(
"Ga/l2/bias",
policy.ga.net_1.weights[1],
step=policy.step,
)
tf.summary.histogram(
"Ga/mu/weights",
policy.ga.mu.weights[0],
step=policy.step,
)
tf.summary.histogram(
"Ga/mu/bias",
policy.ga.mu.weights[1],
step=policy.step,
)
tf.summary.histogram(
"Ga/log_sigma/weights",
policy.ga.log_sigma.weights[0],
step=policy.step,
)
tf.summary.histogram(
"Ga/log_sigma/bias",
policy.ga.log_sigma.weights[1],
step=policy.step,
)
# Target GaussianActor weights/biases
tf.summary.histogram(
"Ga_/l1/weights",
policy.ga_.net_0.weights[0],
step=policy.step,
)
tf.summary.histogram(
"Ga_/l1/bias",
policy.ga_.net_0.weights[1],
step=policy.step,
)
tf.summary.histogram(
"Ga_/l2/weights",
policy.ga_.net_1.weights[0],
step=policy.step,
)
tf.summary.histogram(
"Ga_/l2/bias",
policy.ga_.net_1.weights[1],
step=policy.step,
)
tf.summary.histogram(
"Ga_/mu/weights",
policy.ga_.mu.weights[0],
step=policy.step,
)
tf.summary.histogram(
"Ga_/mu/bias",
policy.ga_.mu.weights[1],
step=policy.step,
)
tf.summary.histogram(
"Ga_/log_sigma/weights",
policy.ga_.log_sigma.weights[0],
step=policy.step,
)
tf.summary.histogram(
"Ga_/log_sigma/bias",
policy.ga_.log_sigma.weights[1],
step=policy.step,
)
# Lyapunov critic weights/biases
tf.summary.histogram(
"Lc/w1_s", policy.lc.w1_s, step=policy.step,
)
tf.summary.histogram(
"Lc/w1_a", policy.lc.w1_a, step=policy.step,
)
tf.summary.histogram(
"Lc/b1", policy.lc.b1, step=policy.step,
)
tf.summary.histogram(
"Lc/net/l2/weights",
policy.lc.net.layers[0].weights[0],
step=policy.step,
)
tf.summary.histogram(
"Lc/net/l2/bias",
policy.lc.net.layers[0].weights[1],
step=policy.step,
)
# Target Lyapunov critic weights/biases
tf.summary.histogram(
"Lc_/w1_s", policy.lc_.w1_s, step=policy.step,
)
tf.summary.histogram(
"Lc_/w1_a", policy.lc_.w1_a, step=policy.step,
)
tf.summary.histogram(
"Lc_/b1", policy.lc_.b1, step=policy.step,
)
tf.summary.histogram(
"Lc_/net/l2/weights",
policy.lc_.net.layers[0].weights[0],
step=policy.step,
)
tf.summary.histogram(
"Lc_/net/l2/bias",
policy.lc_.net.layers[0].weights[1],
step=policy.step,
)
# Decay learning rates
frac = 1.0 - (global_step - 1.0) / ENV_PARAMS["max_global_steps"]
lr_a_now = lr_a * frac # learning rate for actor, lambda, alpha
lr_l_now = lr_l * frac # learning rate for lyapunov critic
break
# Save model and print Running time
policy.save_result(log_dir)
print("Running time: ", time.time() - t1)
return
def train(log_dir):
"""Performs the agent traning.
Args:
log_dir (str): The directory in which the final model (policy) and the
log data is saved.
"""
# Create environment
env = get_env_from_name(ENV_NAME, ENV_SEED)
# Set initial learning rates
lr_a, lr_l = (
ALG_PARAMS["lr_a"],
ALG_PARAMS["lr_l"],
)
lr_a_now = ALG_PARAMS["lr_a"] # learning rate for actor, lambda and alpha
lr_l_now = ALG_PARAMS["lr_l"] # learning rate for lyapunov critic
# Get observation and action space dimension and limits from the environment
s_dim = env.observation_space.shape[0]
a_dim = env.action_space.shape[0]
a_upperbound = env.action_space.high
a_lowerbound = env.action_space.low
# Create the Lyapunov Actor Critic agent
policy = LAC(a_dim, s_dim)
# Create replay memory buffer
pool = Pool(
s_dim=s_dim,
a_dim=a_dim,
store_last_n_paths=TRAIN_PARAMS["num_of_training_paths"],
memory_capacity=ALG_PARAMS["memory_capacity"],
min_memory_size=ALG_PARAMS["min_memory_size"],
)
# Training setting
t1 = time.time()
global_step = 0
last_training_paths = deque(maxlen=TRAIN_PARAMS["num_of_training_paths"])
training_started = False
# Setup logger and log hyperparameters
logger.configure(dir=log_dir, format_strs=["csv"])
logger.logkv("tau", ALG_PARAMS["tau"])
logger.logkv("alpha3", ALG_PARAMS["alpha3"])
logger.logkv("batch_size", ALG_PARAMS["batch_size"])
logger.logkv("target_entropy", policy.target_entropy)
# Training loop
for i in range(ENV_PARAMS["max_episodes"]):
# Create variable to store information about the current path
current_path = {
"rewards": [],
"a_loss": [],
"alpha": [],
"lambda": [],
"lyapunov_error": [],
"entropy": [],
}
# Stop training if max number of steps has been reached
if global_step > ENV_PARAMS["max_global_steps"]:
break
# Reset environment
s = env.reset()
# Training Episode loop
for j in range(ENV_PARAMS["max_ep_steps"]):
# Render environment if requested
if ENV_PARAMS["eval_render"]:
env.render()
# Retrieve (scaled) action based on the current policy
a = policy.choose_action(s)
action = a_lowerbound + (a + 1.0) * (a_upperbound -
a_lowerbound) / 2
# Perform action in env
s_, r, done, _ = env.step(action)
# Increment global step count
if training_started:
global_step += 1
# Stop episode if max_steps has been reached
if j == ENV_PARAMS["max_ep_steps"] - 1:
done = True
terminal = 1.0 if done else 0.0
# Store experience in replay buffer
pool.store(s, a, r, terminal, s_)
# Optimize weights and parameters using STG
if (pool.memory_pointer > ALG_PARAMS["min_memory_size"]
and global_step % ALG_PARAMS["steps_per_cycle"] == 0):
training_started = True
# Perform STG a set number of times (train per cycle)
for _ in range(ALG_PARAMS["train_per_cycle"]):
batch = pool.sample(ALG_PARAMS["batch_size"])
labda, alpha, l_loss, entropy, a_loss = policy.learn(
lr_a_now, lr_l_now, lr_a, batch)
# Save path results
if training_started:
current_path["rewards"].append(r)
current_path["lyapunov_error"].append(l_loss)
current_path["alpha"].append(alpha)
current_path["lambda"].append(labda)
current_path["entropy"].append(entropy)
current_path["a_loss"].append(a_loss)
# Evalute the current performance and log results
if (training_started
and global_step % TRAIN_PARAMS["evaluation_frequency"] == 0
and global_step > 0):
logger.logkv("total_timesteps", global_step)
training_diagnostics = evaluate_training_rollouts(
last_training_paths)
if training_diagnostics is not None:
if TRAIN_PARAMS["num_of_evaluation_paths"] > 0:
eval_diagnostics = training_evaluation(env, policy)
[
logger.logkv(key, eval_diagnostics[key])
for key in eval_diagnostics.keys()
]
training_diagnostics.pop("return")
[
logger.logkv(key, training_diagnostics[key])
for key in training_diagnostics.keys()
]
logger.logkv("lr_a", lr_a_now)
logger.logkv("lr_l", lr_l_now)
string_to_print = ["time_step:", str(global_step), "|"]
if TRAIN_PARAMS["num_of_evaluation_paths"] > 0:
[
string_to_print.extend(
[key, ":",
str(eval_diagnostics[key]), "|"])
for key in eval_diagnostics.keys()
]
[
string_to_print.extend([
key, ":",
str(round(training_diagnostics[key], 2)), "|"
]) for key in training_diagnostics.keys()
]
print("".join(string_to_print))
logger.dumpkvs()
# Update state
s = s_
# Decay learning rate
if done:
if training_started:
last_training_paths.appendleft(current_path)
frac = 1.0 - (global_step -
1.0) / ENV_PARAMS["max_global_steps"]
lr_a_now = lr_a * frac # learning rate for actor, lambda, alpha
lr_l_now = lr_l * frac # learning rate for lyapunov critic
break
# Save model and print Running time
policy.save_result(log_dir)
print("Running time: ", time.time() - t1)
return
def train(log_dir):
"""Performs the agent training.
Args:
log_dir (str): The directory in which the final model (policy) and the log data
is saved.
"""
# Create train and test environments
print(
colorize(
f"INFO: You are training in the {ENV_NAME} environment.",
"cyan",
bold=True,
))
env = get_env_from_name(ENV_NAME, ENV_SEED)
test_env = get_env_from_name(ENV_NAME, ENV_SEED)
# Set initial learning rates
lr_a, lr_l, lr_c = (
ALG_PARAMS["lr_a"],
ALG_PARAMS["lr_l"],
ALG_PARAMS["lr_c"],
)
lr_a_now = ALG_PARAMS["lr_a"] # learning rate for actor, lambda and alpha
lr_l_now = ALG_PARAMS["lr_l"] # learning rate for Lyapunov critic
lr_c_now = ALG_PARAMS["lr_c"] # learning rate for q critic
# Get observation and action space dimension and limits from the environment
s_dim = env.observation_space.shape[0]
a_dim = env.action_space.shape[0]
a_lowerbound = env.action_space.low
a_upperbound = env.action_space.high
# Create the Agent
policy = LAC(a_dim,
s_dim,
act_limits={
"low": a_lowerbound,
"high": a_upperbound
})
# Load model if retraining is selected
if TRAIN_PARAMS["continue_training"]:
# Create retrain model path
retrain_model_folder = TRAIN_PARAMS["continue_model_folder"]
retrain_model_path = osp.abspath(
osp.join(log_dir, "../..", TRAIN_PARAMS["continue_model_folder"]))
# Check if retrain model exists if not throw error
if not osp.exists(retrain_model_path):
print(
colorize(
("ERROR: Shutting down training since the model you specified "
f"in the `continue_model_folder` `{retrain_model_folder}` "
f"argument was not found for the `{ENV_NAME}` environment."
),
"red",
bold=True,
))
sys.exit(0)
# Load old model
print(
colorize(f"INFO: Restoring model `{retrain_model_path}`.",
"cyan",
bold=True))
result = policy.restore(
osp.abspath(osp.join(retrain_model_path, "policy")),
restore_lagrance_multipliers=(
not ALG_PARAMS["reset_lagrance_multipliers"]),
)
if not result:
print(
colorize(
"ERROR: Shuting down training as something went wrong while "
"loading "
f"model `{retrain_model_folder}`.",
"red",
bold=True,
))
sys.exit(0)
# Create new storage folder
log_dir_split = log_dir.split("/")
log_dir_split[-2] = (
"_".join(TRAIN_PARAMS["continue_model_folder"].split("/")) +
"_finetune")
log_dir = "/".join(log_dir_split)
else:
print(colorize(f"INFO: Train new model `{log_dir}`", "cyan",
bold=True))
# Print logging folder path
print(colorize(f"INFO: Logging results to `{log_dir}`.", "cyan",
bold=True))
# Create replay memory buffer
pool = Pool(
s_dim=s_dim,
a_dim=a_dim,
store_last_n_paths=TRAIN_PARAMS["num_of_training_paths"],
memory_capacity=ALG_PARAMS["memory_capacity"],
min_memory_size=ALG_PARAMS["min_memory_size"],
)
# Setup logger and log hyperparameters
logger.configure(dir=log_dir, format_strs=["csv"])
logger.logkv("tau", ALG_PARAMS["tau"])
logger.logkv("alpha3", ALG_PARAMS["alpha3"])
logger.logkv("batch_size", ALG_PARAMS["batch_size"])
logger.logkv("target_entropy", policy.target_entropy)
####################################################
# Training loop ####################################
####################################################
# Setup training loop parameters
t1 = time.time()
global_step = 0
global_episodes = 0
last_training_paths = deque(maxlen=TRAIN_PARAMS["num_of_training_paths"])
training_started = False
# Train the agent in the environment until max_episodes has been reached
print(colorize("INFO: Training...\n", "cyan", bold=True))
while 1: # Keep running episodes until global step has been reached
# Create variable to store information about the current path
if policy.use_lyapunov:
current_path = {
"rewards": [],
"lyapunov_error": [],
"alpha": [],
"lambda": [],
"entropy": [],
"a_loss": [],
"alpha_loss": [],
"lambda_loss": [],
}
else:
current_path = {
"rewards": [],
"critic_error": [],
"alpha": [],
"entropy": [],
"a_loss": [],
"alpha_loss": [],
}
# Reset environment
s = env.reset()
# Training Episode loop
for jj in range(ENVS_PARAMS[ENV_NAME]["max_ep_steps"]):
# Break out of loop if global steps have been reached
if global_step >= TRAIN_PARAMS["max_global_steps"]:
# Print step count, save model and stop the program
print(
colorize(
f"\nINFO: Training stopped after {global_step} steps.",
"cyan",
bold=True,
))
print(
colorize(
"INFO: Running time: {}".format(time.time() - t1),
"cyan",
bold=True,
))
print(colorize("INFO: Saving Model", "cyan", bold=True))
policy.save_result(log_dir)
return
# Save intermediate checkpoints if requested
if TRAIN_PARAMS["save_checkpoints"]:
if (global_step % TRAIN_PARAMS["checkpoint_save_freq"] == 0
and global_step != 0):
# Create intermediate result checkpoint folder
checkpoint_save_path = osp.abspath(
osp.join(log_dir, "checkpoints", "step_" + str(jj)))
os.makedirs(checkpoint_save_path, exist_ok=True)
# Save intermediate checkpoint
policy.save_result(checkpoint_save_path)
# Render environment if requested
if ENVS_PARAMS[ENV_NAME]["eval_render"]:
env.render()
# Retrieve (scaled) action based on the current policy
# NOTE (rickstaa): The scaling operation is already performed inside the
# policy based on the `act_limits` you supplied.
a = policy.choose_action(s)
# Perform action in env
s_, r, done, _ = env.step(a)
# Increment global step count
if training_started:
global_step += 1
# Stop episode if max_steps has been reached
if jj == ENVS_PARAMS[ENV_NAME]["max_ep_steps"] - 1:
done = True
terminal = 1.0 if done else 0.0
# Store experience in replay buffer
pool.store(s, a, r, terminal, s_)
# Optimize network weights and lagrance multipliers
if (pool.memory_pointer > ALG_PARAMS["min_memory_size"]
and global_step % ALG_PARAMS["steps_per_cycle"] == 0):
training_started = True
# Perform STG a set number of times (train per cycle)
for _ in range(ALG_PARAMS["train_per_cycle"]):
batch = pool.sample(ALG_PARAMS["batch_size"])
if policy.use_lyapunov:
(
labda,
alpha,
l_loss,
entropy,
a_loss,
alpha_loss,
labda_loss,
) = policy.learn(lr_a_now, lr_l_now, lr_a, lr_c_now,
batch)
else:
alpha, loss_q, entropy, a_loss, alpha_loss = policy.learn(
lr_a_now, lr_l_now, lr_a, lr_c_now, batch)
# Store current path results
if training_started:
if policy.use_lyapunov:
current_path["rewards"].append(r)
current_path["lyapunov_error"].append(l_loss)
current_path["alpha"].append(alpha)
current_path["lambda"].append(labda)
current_path["entropy"].append(entropy)
current_path["a_loss"].append(a_loss)
current_path["alpha_loss"].append(alpha_loss)
current_path["lambda_loss"].append(labda_loss)
else:
current_path["rewards"].append(r)
current_path["critic_error"].append(loss_q.numpy())
current_path["alpha"].append(alpha.numpy())
current_path["entropy"].append(entropy.numpy())
current_path["a_loss"].append(a_loss.numpy(
)) # Improve: Check if this is the fastest way
current_path["alpha_loss"].append(alpha_loss)
# Evalute the current policy performance and log the results
if (training_started
and global_step % TRAIN_PARAMS["evaluation_frequency"] == 0
and global_step > 0):
logger.logkv("total_timesteps", global_step)
training_diagnostics = evaluate_training_rollouts(
last_training_paths)
if training_diagnostics is not None:
if TRAIN_PARAMS["num_of_evaluation_paths"] > 0:
eval_diagnostics = training_evaluation(
test_env, policy)
[
logger.logkv(key, eval_diagnostics[key])
for key in eval_diagnostics.keys()
]
training_diagnostics.pop("return")
[
logger.logkv(key, training_diagnostics[key])
for key in training_diagnostics.keys()
]
logger.logkv("lr_a", lr_a_now)
if policy.use_lyapunov:
logger.logkv("lr_l", lr_l_now)
else:
logger.logkv("lr_c", lr_c_now)
string_to_print = ["time_step:", str(global_step), "|"]
if TRAIN_PARAMS["num_of_evaluation_paths"] > 0:
[
string_to_print.extend(
[key, ":",
str(eval_diagnostics[key]), "|"])
for key in eval_diagnostics.keys()
]
[
string_to_print.extend([
key, ":",
str(round(training_diagnostics[key], 2)), "|"
]) for key in training_diagnostics.keys()
]
prefix = (colorize("LAC|", "green")
if ALG_PARAMS["use_lyapunov"] else colorize(
"SAC|", "yellow"))
print(
colorize(prefix, "yellow", bold=True) +
"".join(string_to_print))
logger.dumpkvs()
# Update state
s = s_
# Check if episode is done (continue to next episode)
if done:
# Store paths
if training_started:
last_training_paths.appendleft(current_path)
# Decay learning rates
frac = 1.0 - (global_step -
1.0) / TRAIN_PARAMS["max_global_steps"]
lr_a_now = lr_a * frac # learning rate for actor, lambda, alpha
lr_l_now = lr_l * frac # learning rate for Lyapunov critic
lr_c_now = lr_c * frac # learning rate for q critic
break # Continue to next episode
# Increase episode counter
global_episodes += 1