def train_SAC(env_name, exp_name, n_iter, ep_len, seed, logdir, alpha,
prefill_steps, discount, batch_size, learning_rate, tau, two_qf):
alpha = {
'Ant-v2': 0.1,
'HalfCheetah-v2': 0.2,
'Hopper-v2': 0.2,
'Humanoid-v2': 0.05,
'Walker2d-v2': 0.2,
}.get(env_name, alpha)
algorithm_params = {
'alpha': alpha,
'batch_size': batch_size,
'discount': discount,
'learning_rate': learning_rate,
'reparameterize': True,
'tau': tau,
'epoch_length': ep_len,
'n_epochs': n_iter,
'two_qf': two_qf,
}
sampler_params = {
'max_episode_length': 1000,
'prefill_steps': prefill_steps,
}
replay_pool_params = {
'max_size': 1e6,
}
value_function_params = {
'hidden_layer_sizes': (64, 64),
}
q_function_params = {
'hidden_layer_sizes': (64, 64),
}
policy_params = {
'hidden_layer_sizes': (64, 64),
}
logz.configure_output_dir(logdir)
params = {
'exp_name': exp_name,
'env_name': env_name,
'algorithm_params': algorithm_params,
'sampler_params': sampler_params,
'replay_pool_params': replay_pool_params,
'value_function_params': value_function_params,
'q_function_params': q_function_params,
'policy_params': policy_params
}
logz.save_params(params)
env = gym.envs.make(env_name)
# Set random seeds
tf.set_random_seed(seed)
np.random.seed(seed)
env.seed(seed)
sampler = utils.SimpleSampler(**sampler_params)
replay_pool = utils.SimpleReplayPool(
observation_shape=env.observation_space.shape,
action_shape=env.action_space.shape,
**replay_pool_params)
q_function = nn.QFunction(name='q_function', **q_function_params)
if algorithm_params.get('two_qf', False):
q_function2 = nn.QFunction(name='q_function2', **q_function_params)
else:
q_function2 = None
value_function = nn.ValueFunction(
name='value_function', **value_function_params)
target_value_function = nn.ValueFunction(
name='target_value_function', **value_function_params)
policy = nn.GaussianPolicy(
action_dim=env.action_space.shape[0],
reparameterize=algorithm_params['reparameterize'],
**policy_params)
sampler.initialize(env, policy, replay_pool)
algorithm = SAC(**algorithm_params)
tf_config = tf.ConfigProto(inter_op_parallelism_threads=1, intra_op_parallelism_threads=1)
tf_config.gpu_options.allow_growth = True # may need if using GPU
with tf.Session(config=tf_config):
algorithm.build(
env=env,
policy=policy,
q_function=q_function,
q_function2=q_function2,
value_function=value_function,
target_value_function=target_value_function)
for epoch in algorithm.train(sampler, n_epochs=algorithm_params.get('n_epochs', 1000)):
logz.log_tabular('Iteration', epoch)
for k, v in algorithm.get_statistics().items():
logz.log_tabular(k, v)
for k, v in replay_pool.get_statistics().items():
logz.log_tabular(k, v)
for k, v in sampler.get_statistics().items():
logz.log_tabular(k, v)
logz.dump_tabular()
def train_SAC(env_name, exp_name, seed, reparametrize, two_qf, old_funct,
logdir, debug, gpu):
alpha = {
'Ant-v2': 0.1,
'HalfCheetah-v2': 0.2,
'Hopper-v2': 0.2,
'Humanoid-v2': 0.05,
'Walker2d-v2': 0.2,
}.get(env_name, 0.2)
algorithm_params = {
'alpha': alpha,
'batch_size': 256,
'discount': 0.99,
'learning_rate': 1e-3,
'reparameterize': reparametrize,
'tau': 0.01,
'epoch_length': 1000,
'n_epochs': 500,
'two_qf': two_qf,
}
sampler_params = {
'max_episode_length': 1000,
'prefill_steps': 1000,
}
replay_pool_params = {
'max_size': 1e6,
}
value_function_params = {
'hidden_layer_sizes': (128, 128),
}
q_function_params = {
'hidden_layer_sizes': (128, 128),
}
policy_params = {
'hidden_layer_sizes': (128, 128),
}
logz.configure_output_dir(logdir)
params = {
'exp_name': exp_name,
'env_name': env_name,
'algorithm_params': algorithm_params,
'sampler_params': sampler_params,
'replay_pool_params': replay_pool_params,
'value_function_params': value_function_params,
'q_function_params': q_function_params,
'policy_params': policy_params
}
logz.save_params(params)
env = gym.envs.make(env_name)
# Set random seeds
tf.set_random_seed(seed)
np.random.seed(seed)
env.seed(seed)
sampler = utils.SimpleSampler(**sampler_params)
replay_pool = utils.SimpleReplayPool(
observation_shape=env.observation_space.shape,
action_shape=env.action_space.shape,
**replay_pool_params)
q_function = nn.QFunction(name='q_function', **q_function_params)
if algorithm_params.get('two_qf', False):
q_function2 = nn.QFunction(name='q_function2', **q_function_params)
else:
q_function2 = None
value_function = nn.ValueFunction(name='value_function',
**value_function_params)
target_value_function = nn.ValueFunction(name='target_value_function',
**value_function_params)
policy = nn.GaussianPolicy(
action_dim=env.action_space.shape[0],
reparameterize=algorithm_params['reparameterize'],
old_funct=old_funct,
**policy_params)
sampler.initialize(env, policy, replay_pool)
algorithm = SAC(**algorithm_params)
gpu_options = tf.GPUOptions(allow_growth=True, visible_device_list=gpu)
tf_config = tf.ConfigProto(inter_op_parallelism_threads=1,
intra_op_parallelism_threads=1,
gpu_options=gpu_options)
with tf.Session(config=tf_config) as sess:
if debug:
sess = tf_debug.LocalCLIDebugWrapperSession(sess)
algorithm.build(env=env,
policy=policy,
q_function=q_function,
q_function2=q_function2,
value_function=value_function,
target_value_function=target_value_function)
for epoch in algorithm.train(sampler,
session=sess,
n_epochs=algorithm_params.get(
'n_epochs', 1000)):
logz.log_tabular('Iteration', epoch)
for k, v in algorithm.get_statistics().items():
logz.log_tabular(k, v)
for k, v in replay_pool.get_statistics().items():
logz.log_tabular(k, v)
for k, v in sampler.get_statistics().items():
logz.log_tabular(k, v)
logz.dump_tabular()
def train_SAC(env_name, exp_name, seed, logdir, extra_params=None):
alpha = {
'Ant-v2': 0.1,
'HalfCheetah-v2': 0.2,
'Hopper-v2': 0.2,
'Humanoid-v2': 0.05,
'Walker2d-v2': 0.2,
}.get(env_name, 0.2)
algorithm_params = {
'alpha': alpha,
'batch_size': 256,
'discount': 0.99,
'learning_rate': 1e-3,
'reparameterize': get_extra_param(extra_params, 'reparameterize',
False),
'tau': 0.01,
'epoch_length': 1000,
'n_epochs': 500,
'two_qf': get_extra_param(extra_params, 'two_qf', False),
}
sampler_params = {
'max_episode_length': 1000,
'prefill_steps': 1000,
}
replay_pool_params = {
'max_size': 1e6,
}
value_function_params = {
'hidden_layer_sizes': (128, 128),
}
q_function_params = {
'hidden_layer_sizes': (128, 128),
}
policy_params = {
'hidden_layer_sizes': (128, 128),
}
logz.configure_output_dir(logdir)
params = {
'exp_name': exp_name,
'env_name': env_name,
'algorithm_params': algorithm_params,
'sampler_params': sampler_params,
'replay_pool_params': replay_pool_params,
'value_function_params': value_function_params,
'q_function_params': q_function_params,
'policy_params': policy_params
}
logz.save_params(params)
env = gym.envs.make(env_name)
# Set random seeds
tf.random.set_seed(seed)
np.random.seed(seed)
env.seed(seed)
sampler = utils.SimpleSampler(**sampler_params)
replay_pool = utils.SimpleReplayPool(
observation_shape=env.observation_space.shape,
action_shape=env.action_space.shape,
**replay_pool_params)
q_function = nn.QFunction(name='q_function', **q_function_params)
#q_function.build(input_shape = [env.observation_space.shape, env.action_space.shape])
q_function.call(
(tf.random.normal(shape=(1, env.observation_space.shape[0])),
tf.random.normal(shape=(1, env.action_space.shape[0]))))
if algorithm_params.get('two_qf', False):
q_function2 = nn.QFunction(name='q_function2', **q_function_params)
q_function2.build(
input_shape=[env.observation_space.shape, env.action_space.shape])
else:
q_function2 = None
value_function = nn.ValueFunction(name='value_function',
**value_function_params)
# We initialize build() so the function has variables to be watch() in tape at first gradient.
# (We want to control which variables to have gradients so in tape we set it watch_accessed_variables = False,
# hence we need to have the trainable_variables in the first loop)
#value_function.build(input_shape = env.observation_space.shape)
value_function(tf.random.normal(shape=(1, env.observation_space.shape[0])))
target_value_function = nn.ValueFunction(name='target_value_function',
**value_function_params)
target_value_function(
tf.random.normal(shape=(1, env.observation_space.shape[0])))
policy = nn.GaussianPolicy(
action_dim=env.action_space.shape[0],
reparameterize=algorithm_params['reparameterize'],
**policy_params)
policy.build(input_shape=env.observation_space.shape)
sampler.initialize(env, policy, replay_pool)
algorithm = SAC(**algorithm_params)
#tf_config = tf.ConfigProto(inter_op_parallelism_threads=1, intra_op_parallelism_threads=1)
#tf_config.gpu_options.allow_growth = True # may need if using GPU
algorithm.build(env=env,
policy=policy,
q_function=q_function,
q_function2=q_function2,
value_function=value_function,
target_value_function=target_value_function)
for epoch in algorithm.train(sampler,
n_epochs=algorithm_params.get(
'n_epochs', 1000)):
logz.log_tabular('Iteration', epoch)
for k, v in algorithm.get_statistics().items():
logz.log_tabular(k, v)
for k, v in replay_pool.get_statistics().items():
logz.log_tabular(k, v)
for k, v in sampler.get_statistics().items():
logz.log_tabular(k, v)
logz.dump_tabular()