def pivoting_rl(args):
device = torch.device('cuda:'+str(args.gpu) if torch.cuda.is_available() else 'cpu')
seed = 1002
# Set random seed in python std lib, numpy and pytorch
set_seed(seed)
vec_env = DummyVecEnvWrapper(
MujocoEnv('HalfCheetah-v2')
).instantiate(parallel_envs=1, seed=seed)
if args.algo == 'ddpg':
model, reinforcer = get_ddpg(vec_env, device)
elif args.algo == 'ppo':
model, reinforcer = get_ppo(vec_env, device)
else:
print('Unknown algo', args.algo); assert(False)
# Optimizer helper - A weird regularization settings I've copied from OpenAI code
adam_optimizer = AdamFactory(
lr=[1.0e-4, 1.0e-3, 1.0e-3],
weight_decay=[0.0, 0.0, 0.001],
eps=1.0e-4,
layer_groups=True
).instantiate(model)
# Overall information store for training information
training_info = TrainingInfo(
metrics=[
EpisodeRewardMetric('episode_rewards'), # Calculate average reward from episode
],
callbacks=[StdoutStreaming()] # Print live metrics every epoch to standard output
)
# A bit of training initialization bookkeeping...
training_info.initialize()
reinforcer.initialize_training(training_info)
training_info.on_train_begin()
# Let's make 20 batches per epoch to average metrics nicely
num_epochs = int(1.0e6 / 2 / 1000)
# Normal handrolled training loop
for i in range(1, num_epochs+1):
epoch_info = EpochInfo(
training_info=training_info,
global_epoch_idx=i,
batches_per_epoch=1000,
optimizer=adam_optimizer
)
reinforcer.train_epoch(epoch_info)
training_info.on_train_end()
metrics=[
EpisodeRewardMetric(
'episode_rewards'), # Calculate average reward from episode
],
callbacks=[StdoutStreaming()
] # Print live metrics every epoch to standard output
)
# A bit of training initialization bookkeeping...
training_info.initialize()
reinforcer.initialize_training(training_info)
training_info.on_train_begin()
# Let's make 20 batches per epoch to average metrics nicely
num_epochs = int(1.0e6 / 2 / 1000)
# Normal handrolled training loop
for i in range(1, num_epochs + 1):
epoch_info = EpochInfo(training_info=training_info,
global_epoch_idx=i,
batches_per_epoch=1000,
optimizer=adam_optimizer)
reinforcer.train_epoch(epoch_info)
training_info.on_train_end()
if __name__ == '__main__':
half_cheetah_ddpg()