def __init__(self, num_inputs, action_space, param, action_bound):
self.action_bound = action_bound
self.alpha = param['alpha']
self.gamma = param['gamma']
self.tau = param['tau']
self.target_update_interval = param['target_update_interval']
self.automatic_entropy_tuning = param['automatic_entropy_tuning']
self.lr = param['lr']
self.device = torch.device("cuda" if param['cuda'] else "cpu")
self.critic = QNetwork(num_inputs, action_space).to(device=self.device)
self.critic_optim = Adam(self.critic.parameters(), lr=self.lr)
self.critic_target = QNetwork(num_inputs, action_space).to(self.device)
hard_update(self.critic_target, self.critic)
# Target Entropy = -dim(A) (e.g. , -6 for HalfCheetah-v2) as given in the paper
if self.automatic_entropy_tuning is True:
self.target_entropy = -torch.prod(
torch.Tensor(action_space).to(self.device)).item()
self.log_alpha = torch.zeros(1,
requires_grad=True,
device=self.device)
self.alpha_optim = Adam([self.log_alpha], lr=param['lr'])
self.policy = CNNPolicy(num_inputs, action_space).to(self.device)
self.policy_optim = Adam(self.policy.parameters(), lr=param['lr'])
print('############Loading Policy Model###########')
print('###########################################')
state_dict = torch.load(file_policy)
agent.policy.load_state_dict(state_dict)
else:
print('###########################################')
print('############Start policy Training###########')
print('###########################################')
if os.path.exists(file_critic_1):
print('###########################################')
print('############Loading critic_1 Model###########')
print('###########################################')
state_dict = torch.load(file_critic_1)
agent.critic_1.load_state_dict(state_dict)
hard_update(agent.critic_1_target, agent.critic_1)
else:
print('###########################################')
print('############Start critic_1 Training###########')
print('###########################################')
if os.path.exists(file_critic_2):
print('###########################################')
print('############Loading critic_2 Model###########')
print('###########################################')
state_dict = torch.load(file_critic_2)
agent.critic_2.load_state_dict(state_dict)
hard_update(agent.critic_2_target, agent.critic_2)
else:
print('###########################################')
# np.random.seed(1)
if rank == 0:
policy_path = 'policy_0819'
#actor
actor = Actor(frames=LASER_HIST, action_space=2, max_action=MAX_ACTION)
actor.cuda()
actor_opt = Adam(actor.parameters(), lr=ACTOR_LEARNING_RATE)
actor_target = Actor(frames=LASER_HIST,
action_space=2,
max_action=MAX_ACTION)
actor_target.cuda()
hard_update(actor_target, actor)
#critic
critic = Critic(frames=LASER_HIST, action_space=2)
critic.cuda()
critic_opt = Adam(critic.parameters(), lr=CRITIC_LEARNING_RATE)
critic_target = Critic(frames=LASER_HIST, action_space=2)
critic_target.cuda()
hard_update(critic_target, critic)
if not os.path.exists(policy_path):
os.makedirs(policy_path)
