From 80f20c73beafd08218a313fa7dd1fe40736832bf Mon Sep 17 00:00:00 2001 From: johnjim0816 Date: Thu, 25 Aug 2022 21:00:53 +0800 Subject: [PATCH] hot update PG --- projects/PARL/DQN.ipynb | 318 ------- projects/PARL/README.md | 11 - projects/README.md | 1 - projects/codes/PolicyGradient/main.py | 129 +++ .../20220822-174059/results/params.json | 16 - .../models/checkpoint.pt | Bin .../20220825-205930/results/params.json | 1 + .../results/testing_curve.png | Bin .../results/testing_results.csv | 0 .../results/training_curve.png | Bin .../results/training_results.csv | 0 projects/codes/PolicyGradient/pg.py | 10 +- projects/codes/PolicyGradient/task0.py | 139 --- projects/codes/QLearning/main.py | 220 ++--- .../20220824-112735/models/Qleaning_model.pkl | Bin 2543 -> 0 bytes .../20220824-112735/results/testing_curve.png | Bin 22658 -> 0 bytes .../results/training_curve.png | Bin 53864 -> 0 bytes .../results/training_results.csv | 801 ------------------ .../20220825-114335/models/Qleaning_model.pkl | Bin 0 -> 2543 bytes .../20220825-114335}/results/params.json | 6 +- .../20220825-114335/results/testing_curve.png | Bin 0 -> 24049 bytes .../results/testing_results.csv | 0 .../results/training_curve.png | Bin 0 -> 56073 bytes .../results/training_results.csv | 801 ++++++++++++++++++ projects/codes/Sarsa/main.py | 136 +++ projects/codes/Sarsa/sarsa.py | 66 +- projects/codes/Sarsa/task0.py | 118 --- projects/codes/common/launcher.py | 32 + projects/codes/envs/gridworld_env.py | 78 -- .../envs/{racetrack_env.py => racetrack.py} | 75 +- projects/codes/envs/register.py | 34 + projects/codes/envs/wrappers.py | 78 ++ projects/codes/scripts/Qlearning_task1.sh | 3 +- projects/codes/scripts/Sarsa_task0.sh | 13 + 34 files changed, 1391 insertions(+), 1695 deletions(-) delete mode 100644 projects/PARL/DQN.ipynb delete mode 100644 projects/PARL/README.md create mode 100644 projects/codes/PolicyGradient/main.py delete mode 100644 projects/codes/PolicyGradient/outputs/CartPole-v0/20220822-174059/results/params.json rename projects/codes/PolicyGradient/outputs/CartPole-v0/{20220822-174059 => 20220825-205930}/models/checkpoint.pt (100%) create mode 100644 projects/codes/PolicyGradient/outputs/CartPole-v0/20220825-205930/results/params.json rename projects/codes/PolicyGradient/outputs/CartPole-v0/{20220822-174059 => 20220825-205930}/results/testing_curve.png (100%) rename projects/codes/PolicyGradient/outputs/CartPole-v0/{20220822-174059 => 20220825-205930}/results/testing_results.csv (100%) rename projects/codes/PolicyGradient/outputs/CartPole-v0/{20220822-174059 => 20220825-205930}/results/training_curve.png (100%) rename projects/codes/PolicyGradient/outputs/CartPole-v0/{20220822-174059 => 20220825-205930}/results/training_results.csv (100%) delete mode 100644 projects/codes/PolicyGradient/task0.py delete mode 100644 projects/codes/QLearning/outputs/FrozenLake-v1/20220824-112735/models/Qleaning_model.pkl delete mode 100644 projects/codes/QLearning/outputs/FrozenLake-v1/20220824-112735/results/testing_curve.png delete mode 100644 projects/codes/QLearning/outputs/FrozenLake-v1/20220824-112735/results/training_curve.png delete mode 100644 projects/codes/QLearning/outputs/FrozenLake-v1/20220824-112735/results/training_results.csv create mode 100644 projects/codes/QLearning/outputs/FrozenLakeNoSlippery-v1/20220825-114335/models/Qleaning_model.pkl rename projects/codes/QLearning/outputs/{FrozenLake-v1/20220824-112735 => FrozenLakeNoSlippery-v1/20220825-114335}/results/params.json (72%) create mode 100644 projects/codes/QLearning/outputs/FrozenLakeNoSlippery-v1/20220825-114335/results/testing_curve.png rename projects/codes/QLearning/outputs/{FrozenLake-v1/20220824-112735 => FrozenLakeNoSlippery-v1/20220825-114335}/results/testing_results.csv (100%) create mode 100644 projects/codes/QLearning/outputs/FrozenLakeNoSlippery-v1/20220825-114335/results/training_curve.png create mode 100644 projects/codes/QLearning/outputs/FrozenLakeNoSlippery-v1/20220825-114335/results/training_results.csv create mode 100644 projects/codes/Sarsa/main.py delete mode 100644 projects/codes/Sarsa/task0.py create mode 100644 projects/codes/common/launcher.py rename projects/codes/envs/{racetrack_env.py => racetrack.py} (84%) create mode 100644 projects/codes/envs/register.py create mode 100644 projects/codes/envs/wrappers.py create mode 100644 projects/codes/scripts/Sarsa_task0.sh diff --git a/projects/PARL/DQN.ipynb b/projects/PARL/DQN.ipynb deleted file mode 100644 index 57b0746..0000000 --- a/projects/PARL/DQN.ipynb +++ /dev/null @@ -1,318 +0,0 @@ -{ - "cells": [ - { - "cell_type": "markdown", - "metadata": {}, - "source": [ - "## 定义模型\n", - "\n" - ] - }, - { - "cell_type": "code", - "execution_count": 15, - "metadata": {}, - "outputs": [], - "source": [ - "import paddle\n", - "import paddle.nn as nn\n", - "import paddle.nn.functional as F\n", - "import parl\n", - "\n", - "class CartpoleModel(parl.Model):\n", - " \"\"\" Linear network to solve Cartpole problem.\n", - " Args:\n", - " n_states (int): Dimension of observation space.\n", - " n_actions (int): Dimension of action space.\n", - " \"\"\"\n", - "\n", - " def __init__(self, n_states, n_actions):\n", - " super(CartpoleModel, self).__init__()\n", - " hid1_size = 128\n", - " hid2_size = 128\n", - " self.fc1 = nn.Linear(n_states, hid1_size)\n", - " self.fc2 = nn.Linear(hid1_size, hid2_size)\n", - " self.fc3 = nn.Linear(hid2_size, n_actions)\n", - "\n", - " def forward(self, obs):\n", - " h1 = F.relu(self.fc1(obs))\n", - " h2 = F.relu(self.fc2(h1))\n", - " Q = self.fc3(h2)\n", - " return Q" - ] - }, - { - "cell_type": "code", - "execution_count": 16, - "metadata": {}, - "outputs": [], - "source": [ - "import parl\n", - "import paddle\n", - "import numpy as np\n", - "\n", - "\n", - "class CartpoleAgent(parl.Agent):\n", - " \"\"\"Agent of Cartpole env.\n", - " Args:\n", - " algorithm(parl.Algorithm): algorithm used to solve the problem.\n", - " \"\"\"\n", - "\n", - " def __init__(self, algorithm, n_actions, e_greed=0.1, e_greed_decrement=0):\n", - " super(CartpoleAgent, self).__init__(algorithm)\n", - " assert isinstance(n_actions, int)\n", - " self.n_actions = n_actions\n", - "\n", - " self.global_step = 0\n", - " self.update_target_steps = 200\n", - "\n", - " self.e_greed = e_greed\n", - " self.e_greed_decrement = e_greed_decrement\n", - "\n", - " def sample(self, obs):\n", - " \"\"\"Sample an action `for exploration` when given an observation\n", - " Args:\n", - " obs(np.float32): shape of (n_states,)\n", - " Returns:\n", - " act(int): action\n", - " \"\"\"\n", - " sample = np.random.random()\n", - " if sample < self.e_greed:\n", - " act = np.random.randint(self.n_actions)\n", - " else:\n", - " if np.random.random() < 0.01:\n", - " act = np.random.randint(self.n_actions)\n", - " else:\n", - " act = self.predict(obs)\n", - " self.e_greed = max(0.01, self.e_greed - self.e_greed_decrement)\n", - " return act\n", - "\n", - " def predict(self, obs):\n", - " \"\"\"Predict an action when given an observation\n", - " Args:\n", - " obs(np.float32): shape of (n_states,)\n", - " Returns:\n", - " act(int): action\n", - " \"\"\"\n", - " obs = paddle.to_tensor(obs, dtype='float32')\n", - " pred_q = self.alg.predict(obs)\n", - " act = pred_q.argmax().numpy()[0]\n", - " return act\n", - "\n", - " def learn(self, obs, act, reward, next_obs, terminal):\n", - " \"\"\"Update model with an episode data\n", - " Args:\n", - " obs(np.float32): shape of (batch_size, n_states)\n", - " act(np.int32): shape of (batch_size)\n", - " reward(np.float32): shape of (batch_size)\n", - " next_obs(np.float32): shape of (batch_size, n_states)\n", - " terminal(np.float32): shape of (batch_size)\n", - " Returns:\n", - " loss(float)\n", - " \"\"\"\n", - " if self.global_step % self.update_target_steps == 0:\n", - " self.alg.sync_target()\n", - " self.global_step += 1\n", - "\n", - " act = np.expand_dims(act, axis=-1)\n", - " reward = np.expand_dims(reward, axis=-1)\n", - " terminal = np.expand_dims(terminal, axis=-1)\n", - "\n", - " obs = paddle.to_tensor(obs, dtype='float32')\n", - " act = paddle.to_tensor(act, dtype='int32')\n", - " reward = paddle.to_tensor(reward, dtype='float32')\n", - " next_obs = paddle.to_tensor(next_obs, dtype='float32')\n", - " terminal = paddle.to_tensor(terminal, dtype='float32')\n", - " loss = self.alg.learn(obs, act, reward, next_obs, terminal)\n", - " return loss.numpy()[0]" - ] - }, - { - "cell_type": "code", - "execution_count": 17, - "metadata": {}, - "outputs": [], - "source": [ - "import os\n", - "import gym\n", - "import numpy as np\n", - "import parl\n", - "\n", - "from parl.utils import logger, ReplayMemory\n", - "from parl.algorithms import DQN\n", - "\n", - "LEARN_FREQ = 5 # training frequency\n", - "MEMORY_SIZE = 200000\n", - "MEMORY_WARMUP_SIZE = 200\n", - "BATCH_SIZE = 64\n", - "LEARNING_RATE = 0.0005\n", - "GAMMA = 0.99\n", - "\n", - "# train an episode\n", - "def run_train_episode(agent, env, rpm):\n", - " total_reward = 0\n", - " obs = env.reset()\n", - " step = 0\n", - " while True:\n", - " step += 1\n", - " action = agent.sample(obs)\n", - " next_obs, reward, done, _ = env.step(action)\n", - " rpm.append(obs, action, reward, next_obs, done)\n", - "\n", - " # train model\n", - " if (len(rpm) > MEMORY_WARMUP_SIZE) and (step % LEARN_FREQ == 0):\n", - " # s,a,r,s',done\n", - " (batch_obs, batch_action, batch_reward, batch_next_obs,\n", - " batch_done) = rpm.sample_batch(BATCH_SIZE)\n", - " train_loss = agent.learn(batch_obs, batch_action, batch_reward,\n", - " batch_next_obs, batch_done)\n", - "\n", - " total_reward += reward\n", - " obs = next_obs\n", - " if done:\n", - " break\n", - " return total_reward\n", - "\n", - "\n", - "# evaluate 5 episodes\n", - "def run_evaluate_episodes(agent, env, eval_episodes=5, render=False):\n", - " eval_reward = []\n", - " for i in range(eval_episodes):\n", - " obs = env.reset()\n", - " episode_reward = 0\n", - " while True:\n", - " action = agent.predict(obs)\n", - " obs, reward, done, _ = env.step(action)\n", - " episode_reward += reward\n", - " if render:\n", - " env.render()\n", - " if done:\n", - " break\n", - " eval_reward.append(episode_reward)\n", - " return np.mean(eval_reward)\n", - "\n", - "\n", - "def main(args):\n", - " env = gym.make('CartPole-v0')\n", - " n_states = env.observation_space.shape[0]\n", - " n_actions = env.action_space.n\n", - " logger.info('n_states {}, n_actions {}'.format(n_states, n_actions))\n", - "\n", - " # set action_shape = 0 while in discrete control environment\n", - " rpm = ReplayMemory(MEMORY_SIZE, n_states, 0)\n", - "\n", - " # build an agent\n", - " model = CartpoleModel(n_states=n_states, n_actions=n_actions)\n", - " alg = DQN(model, gamma=GAMMA, lr=LEARNING_RATE)\n", - " agent = CartpoleAgent(\n", - " alg, n_actions=n_actions, e_greed=0.1, e_greed_decrement=1e-6)\n", - "\n", - " # warmup memory\n", - " while len(rpm) < MEMORY_WARMUP_SIZE:\n", - " run_train_episode(agent, env, rpm)\n", - "\n", - " max_episode = args.max_episode\n", - "\n", - " # start training\n", - " episode = 0\n", - " while episode < max_episode:\n", - " # train part\n", - " for i in range(50):\n", - " total_reward = run_train_episode(agent, env, rpm)\n", - " episode += 1\n", - "\n", - " # test part\n", - " eval_reward = run_evaluate_episodes(agent, env, render=False)\n", - " logger.info('episode:{} e_greed:{} Test reward:{}'.format(\n", - " episode, agent.e_greed, eval_reward))\n", - "\n", - " # save the parameters to ./model.ckpt\n", - " save_path = './model.ckpt'\n", - " agent.save(save_path)\n", - "\n", - " # save the model and parameters of policy network for inference\n", - " save_inference_path = './inference_model'\n", - " input_shapes = [[None, env.observation_space.shape[0]]]\n", - " input_dtypes = ['float32']\n", - " agent.save_inference_model(save_inference_path, input_shapes, input_dtypes)\n", - "\n", - "\n", - "\n", - " " - ] - }, - { - "cell_type": "code", - "execution_count": 18, - "metadata": {}, - "outputs": [ - { - "name": "stdout", - "output_type": "stream", - "text": [ - "\u001b[32m[08-01 21:48:19 MainThread @3996942455.py:64]\u001b[0m obs_dim 4, act_dim 2\n", - "\u001b[32m[08-01 21:48:19 MainThread @3996942455.py:92]\u001b[0m episode:50 e_greed:0.0988929999999989 Test reward:18.4\n", - "\u001b[32m[08-01 21:48:20 MainThread @3996942455.py:92]\u001b[0m episode:100 e_greed:0.09794799999999795 Test reward:9.6\n", - "\u001b[32m[08-01 21:48:20 MainThread @3996942455.py:92]\u001b[0m episode:150 e_greed:0.0973899999999974 Test reward:37.8\n", - "\u001b[32m[08-01 21:48:20 MainThread @3996942455.py:92]\u001b[0m episode:200 e_greed:0.09684299999999685 Test reward:8.8\n", - "\u001b[32m[08-01 21:48:20 MainThread @3996942455.py:92]\u001b[0m episode:250 e_greed:0.09635499999999636 Test reward:9.4\n", - "\u001b[32m[08-01 21:48:21 MainThread @3996942455.py:92]\u001b[0m episode:300 e_greed:0.09585299999999586 Test reward:9.2\n", - "\u001b[32m[08-01 21:48:21 MainThread @3996942455.py:92]\u001b[0m episode:350 e_greed:0.09535799999999536 Test reward:9.2\n", - "\u001b[32m[08-01 21:48:21 MainThread @3996942455.py:92]\u001b[0m episode:400 e_greed:0.09486399999999487 Test reward:10.0\n", - "\u001b[32m[08-01 21:48:21 MainThread @3996942455.py:92]\u001b[0m episode:450 e_greed:0.09435299999999436 Test reward:9.2\n", - "\u001b[32m[08-01 21:48:22 MainThread @3996942455.py:92]\u001b[0m episode:500 e_greed:0.09384899999999385 Test reward:9.4\n", - "\u001b[32m[08-01 21:48:22 MainThread @3996942455.py:92]\u001b[0m episode:550 e_greed:0.09302299999999303 Test reward:69.0\n", - "\u001b[32m[08-01 21:48:25 MainThread @3996942455.py:92]\u001b[0m episode:600 e_greed:0.08774199999998775 Test reward:141.2\n", - "\u001b[32m[08-01 21:48:30 MainThread @3996942455.py:92]\u001b[0m episode:650 e_greed:0.0791019999999791 Test reward:184.0\n", - "\u001b[32m[08-01 21:48:35 MainThread @3996942455.py:92]\u001b[0m episode:700 e_greed:0.07011299999997012 Test reward:182.0\n", - "\u001b[32m[08-01 21:48:40 MainThread @3996942455.py:92]\u001b[0m episode:750 e_greed:0.06089099999996089 Test reward:197.4\n", - "\u001b[32m[08-01 21:48:45 MainThread @3996942455.py:92]\u001b[0m episode:800 e_greed:0.05139199999995139 Test reward:183.4\n", - "\u001b[32m[08-01 21:48:50 MainThread @3996942455.py:92]\u001b[0m episode:850 e_greed:0.042255999999942256 Test reward:153.0\n", - "\u001b[32m[08-01 21:48:55 MainThread @3996942455.py:92]\u001b[0m episode:900 e_greed:0.033495999999933496 Test reward:192.6\n", - "\u001b[32m[08-01 21:49:00 MainThread @3996942455.py:92]\u001b[0m episode:950 e_greed:0.024318999999924318 Test reward:166.6\n", - "\u001b[32m[08-01 21:49:06 MainThread @3996942455.py:92]\u001b[0m episode:1000 e_greed:0.014873999999916176 Test reward:187.0\n" - ] - } - ], - "source": [ - "import argparse\n", - "parser = argparse.ArgumentParser()\n", - "parser.add_argument(\n", - " '--max_episode',\n", - " type=int,\n", - " default=1000,\n", - " help='stop condition: number of max episode')\n", - "args = parser.parse_args(args=[])\n", - "\n", - "main(args)" - ] - } - ], - "metadata": { - "kernelspec": { - "display_name": "Python 3.7.12 ('rl_tutorials')", - "language": "python", - "name": "python3" - }, - "language_info": { - "codemirror_mode": { - "name": "ipython", - "version": 3 - }, - "file_extension": ".py", - "mimetype": "text/x-python", - "name": "python", - "nbconvert_exporter": "python", - "pygments_lexer": "ipython3", - "version": "3.7.12" - }, - "orig_nbformat": 4, - "vscode": { - "interpreter": { - "hash": "4f613f1ab80ec98dc1b91d6e720de51301598a187317378e53e49b773c1123dd" - } - } - }, - "nbformat": 4, - "nbformat_minor": 2 -} diff --git a/projects/PARL/README.md b/projects/PARL/README.md deleted file mode 100644 index a8ddbb7..0000000 --- a/projects/PARL/README.md +++ /dev/null @@ -1,11 +0,0 @@ -[PARL](https://github.com/PaddlePaddle/PARL)是一个高性能、灵活的强化学习框架，由百度AI Studio开发。 - -## 安装 - -1. 安装parl，参考[PARL Github](https://github.com/PaddlePaddle/PARL) -2. 安装paddlepaddle：```pip install paddlepaddle``` - -## 常见问题 - -```jupyter-client 7.3.1 requires pyzmq>=22.3, but you have pyzmq 18.1.1 which is incompatible.```: -```pip install -U pyzmq``` \ No newline at end of file diff --git a/projects/README.md b/projects/README.md index bd112d9..84d96b9 100644 --- a/projects/README.md +++ b/projects/README.md @@ -11,7 +11,6 @@ 项目内容主要包含以下几个部分： * [Jupyter Notebook](./notebooks/)：使用Notebook写的算法，有比较详细的实战引导，推荐新手食用 * [codes](./codes/)：这些是基于Python脚本写的算法，风格比较接近实际项目的写法，推荐有一定代码基础的人阅读，下面会说明其具体的一些架构 -* [parl](./PARL/)：应业务需求，写了一些基于百度飞浆平台和```parl```模块的RL实例 * [附件](./assets/)：目前包含强化学习各算法的中文伪代码 diff --git a/projects/codes/PolicyGradient/main.py b/projects/codes/PolicyGradient/main.py new file mode 100644 index 0000000..2e4c5e4 --- /dev/null +++ b/projects/codes/PolicyGradient/main.py @@ -0,0 +1,129 @@ +#!/usr/bin/env python +# coding=utf-8 +''' +Author: John +Email: johnjim0816@gmail.com +Date: 2020-11-22 23:21:53 +LastEditor: John +LastEditTime: 2022-08-25 20:59:23 +Discription: +Environment: +''' +import sys,os +curr_path = os.path.dirname(os.path.abspath(__file__)) # current path +parent_path = os.path.dirname(curr_path) # parent path +sys.path.append(parent_path) # add to system path + +import gym +import torch +import datetime +import argparse +from itertools import count +import torch.nn.functional as F +from pg import PolicyGradient +from common.utils import save_results, make_dir,all_seed,save_args,plot_rewards +from common.models import MLP +from common.memories import PGReplay +from common.launcher import Launcher +from envs.register import register_env + + +class PGNet(MLP): + ''' instead of outputing action, PG Net outputs propabilities of actions, we can use class inheritance from MLP here + ''' + def forward(self, x): + x = F.relu(self.fc1(x)) + x = F.relu(self.fc2(x)) + x = F.sigmoid(self.fc3(x)) + return x + +class Main(Launcher): + def get_args(self): + """ Hyperparameters + """ + curr_time = datetime.datetime.now().strftime("%Y%m%d-%H%M%S") # Obtain current time + parser = argparse.ArgumentParser(description="hyperparameters") + parser.add_argument('--algo_name',default='PolicyGradient',type=str,help="name of algorithm") + parser.add_argument('--env_name',default='CartPole-v0',type=str,help="name of environment") + parser.add_argument('--train_eps',default=200,type=int,help="episodes of training") + parser.add_argument('--test_eps',default=20,type=int,help="episodes of testing") + parser.add_argument('--gamma',default=0.99,type=float,help="discounted factor") + parser.add_argument('--lr',default=0.005,type=float,help="learning rate") + parser.add_argument('--update_fre',default=8,type=int) + parser.add_argument('--hidden_dim',default=36,type=int) + parser.add_argument('--device',default='cpu',type=str,help="cpu or cuda") + parser.add_argument('--seed',default=1,type=int,help="seed") + parser.add_argument('--save_fig',default=True,type=bool,help="if save figure or not") + parser.add_argument('--show_fig',default=False,type=bool,help="if show figure or not") + args = parser.parse_args() + default_args = {'result_path':f"{curr_path}/outputs/{args.env_name}/{curr_time}/results/", + 'model_path':f"{curr_path}/outputs/{args.env_name}/{curr_time}/models/", + } + args = {**vars(args),**default_args} # type(dict) + return args + def env_agent_config(self,cfg): + register_env(cfg['env_name']) + env = gym.make(cfg['env_name']) + if cfg['seed'] !=0: # set random seed + all_seed(env,seed=cfg['seed']) + n_states = env.observation_space.shape[0] + n_actions = env.action_space.n # action dimension + print(f"state dim: {n_states}, action dim: {n_actions}") + cfg.update({"n_states":n_states,"n_actions":n_actions}) # update to cfg paramters + model = PGNet(n_states,1,hidden_dim=cfg['hidden_dim']) + memory = PGReplay() + agent = PolicyGradient(model,memory,cfg) + return env,agent + def train(self,cfg,env,agent): + print("Start training!") + print(f"Env: {cfg['env_name']}, Algorithm: {cfg['algo_name']}, Device: {cfg['device']}") + rewards = [] + for i_ep in range(cfg['train_eps']): + state = env.reset() + ep_reward = 0 + for _ in count(): + action = agent.sample_action(state) # sample action + next_state, reward, done, _ = env.step(action) + ep_reward += reward + if done: + reward = 0 + agent.memory.push((state,float(action),reward)) + state = next_state + if done: + print(f"Episode：{i_ep+1}/{cfg['train_eps']}, Reward:{ep_reward:.2f}") + break + if (i_ep+1) % cfg['update_fre'] == 0: + agent.update() + rewards.append(ep_reward) + print('Finish training!') + env.close() # close environment + res_dic = {'episodes':range(len(rewards)),'rewards':rewards} + return res_dic + + def test(self,cfg,env,agent): + print("Start testing!") + print(f"Env: {cfg['env_name']}, Algorithm: {cfg['algo_name']}, Device: {cfg['device']}") + rewards = [] + for i_ep in range(cfg['test_eps']): + state = env.reset() + ep_reward = 0 + for _ in count(): + action = agent.predict_action(state) + next_state, reward, done, _ = env.step(action) + ep_reward += reward + if done: + reward = 0 + state = next_state + if done: + print(f"Episode: {i_ep+1}/{cfg['test_eps']}，Reward: {ep_reward:.2f}") + break + rewards.append(ep_reward) + print("Finish testing!") + env.close() + return {'episodes':range(len(rewards)),'rewards':rewards} + +if __name__ == "__main__": + main = Main() + main.run() + + diff --git a/projects/codes/PolicyGradient/outputs/CartPole-v0/20220822-174059/results/params.json b/projects/codes/PolicyGradient/outputs/CartPole-v0/20220822-174059/results/params.json deleted file mode 100644 index 0dca316..0000000 --- a/projects/codes/PolicyGradient/outputs/CartPole-v0/20220822-174059/results/params.json +++ /dev/null @@ -1,16 +0,0 @@ -{ - "algo_name": "PolicyGradient", - "env_name": "CartPole-v0", - "train_eps": 200, - "test_eps": 20, - "gamma": 0.99, - "lr": 0.005, - "update_fre": 8, - "hidden_dim": 36, - "device": "cpu", - "seed": 1, - "result_path": "/Users/jj/Desktop/rl-tutorials/codes/PolicyGradient/outputs/CartPole-v0/20220822-174059/results/", - "model_path": "/Users/jj/Desktop/rl-tutorials/codes/PolicyGradient/outputs/CartPole-v0/20220822-174059/models/", - "save_fig": true, - "show_fig": false -} \ No newline at end of file diff --git a/projects/codes/PolicyGradient/outputs/CartPole-v0/20220822-174059/models/checkpoint.pt b/projects/codes/PolicyGradient/outputs/CartPole-v0/20220825-205930/models/checkpoint.pt similarity index 100% rename from projects/codes/PolicyGradient/outputs/CartPole-v0/20220822-174059/models/checkpoint.pt rename to projects/codes/PolicyGradient/outputs/CartPole-v0/20220825-205930/models/checkpoint.pt diff --git a/projects/codes/PolicyGradient/outputs/CartPole-v0/20220825-205930/results/params.json b/projects/codes/PolicyGradient/outputs/CartPole-v0/20220825-205930/results/params.json new file mode 100644 index 0000000..2a3810d --- /dev/null +++ b/projects/codes/PolicyGradient/outputs/CartPole-v0/20220825-205930/results/params.json @@ -0,0 +1 @@ +{"algo_name": "PolicyGradient", "env_name": "CartPole-v0", "train_eps": 200, "test_eps": 20, "gamma": 0.99, "lr": 0.005, "update_fre": 8, "hidden_dim": 36, "device": "cpu", "seed": 1, "save_fig": true, "show_fig": false, "result_path": "/Users/jj/Desktop/rl-tutorials/codes/PolicyGradient/outputs/CartPole-v0/20220825-205930/results/", "model_path": "/Users/jj/Desktop/rl-tutorials/codes/PolicyGradient/outputs/CartPole-v0/20220825-205930/models/", "n_states": 4, "n_actions": 2} \ No newline at end of file diff --git a/projects/codes/PolicyGradient/outputs/CartPole-v0/20220822-174059/results/testing_curve.png b/projects/codes/PolicyGradient/outputs/CartPole-v0/20220825-205930/results/testing_curve.png similarity index 100% rename from projects/codes/PolicyGradient/outputs/CartPole-v0/20220822-174059/results/testing_curve.png rename to projects/codes/PolicyGradient/outputs/CartPole-v0/20220825-205930/results/testing_curve.png diff --git a/projects/codes/PolicyGradient/outputs/CartPole-v0/20220822-174059/results/testing_results.csv b/projects/codes/PolicyGradient/outputs/CartPole-v0/20220825-205930/results/testing_results.csv similarity index 100% rename from projects/codes/PolicyGradient/outputs/CartPole-v0/20220822-174059/results/testing_results.csv rename to projects/codes/PolicyGradient/outputs/CartPole-v0/20220825-205930/results/testing_results.csv diff --git a/projects/codes/PolicyGradient/outputs/CartPole-v0/20220822-174059/results/training_curve.png b/projects/codes/PolicyGradient/outputs/CartPole-v0/20220825-205930/results/training_curve.png similarity index 100% rename from projects/codes/PolicyGradient/outputs/CartPole-v0/20220822-174059/results/training_curve.png rename to projects/codes/PolicyGradient/outputs/CartPole-v0/20220825-205930/results/training_curve.png diff --git a/projects/codes/PolicyGradient/outputs/CartPole-v0/20220822-174059/results/training_results.csv b/projects/codes/PolicyGradient/outputs/CartPole-v0/20220825-205930/results/training_results.csv similarity index 100% rename from projects/codes/PolicyGradient/outputs/CartPole-v0/20220822-174059/results/training_results.csv rename to projects/codes/PolicyGradient/outputs/CartPole-v0/20220825-205930/results/training_results.csv diff --git a/projects/codes/PolicyGradient/pg.py b/projects/codes/PolicyGradient/pg.py index 8cd8688..aeef3f8 100644 --- a/projects/codes/PolicyGradient/pg.py +++ b/projects/codes/PolicyGradient/pg.py @@ -5,7 +5,7 @@ Author: John Email: johnjim0816@gmail.com Date: 2020-11-22 23:27:44 LastEditor: John -LastEditTime: 2022-08-22 17:35:34 +LastEditTime: 2022-08-25 20:58:59 Discription: Environment: ''' @@ -19,12 +19,12 @@ import numpy as np class PolicyGradient: - def __init__(self, n_states,model,memory,cfg): - self.gamma = cfg.gamma - self.device = torch.device(cfg.device) + def __init__(self, model,memory,cfg): + self.gamma = cfg['gamma'] + self.device = torch.device(cfg['device']) self.memory = memory self.policy_net = model.to(self.device) - self.optimizer = torch.optim.RMSprop(self.policy_net.parameters(), lr=cfg.lr) + self.optimizer = torch.optim.RMSprop(self.policy_net.parameters(), lr=cfg['lr']) def sample_action(self,state): diff --git a/projects/codes/PolicyGradient/task0.py b/projects/codes/PolicyGradient/task0.py deleted file mode 100644 index 8f42f25..0000000 --- a/projects/codes/PolicyGradient/task0.py +++ /dev/null @@ -1,139 +0,0 @@ -#!/usr/bin/env python -# coding=utf-8 -''' -Author: John -Email: johnjim0816@gmail.com -Date: 2020-11-22 23:21:53 -LastEditor: John -LastEditTime: 2022-08-22 17:40:07 -Discription: -Environment: -''' -import sys,os -curr_path = os.path.dirname(os.path.abspath(__file__)) # current path -parent_path = os.path.dirname(curr_path) # parent path -sys.path.append(parent_path) # add to system path - -import gym -import torch -import datetime -import argparse -from itertools import count -import torch.nn.functional as F -from pg import PolicyGradient -from common.utils import save_results, make_dir,all_seed,save_args,plot_rewards -from common.models import MLP -from common.memories import PGReplay - - -def get_args(): - """ Hyperparameters - """ - curr_time = datetime.datetime.now().strftime("%Y%m%d-%H%M%S") # Obtain current time - parser = argparse.ArgumentParser(description="hyperparameters") - parser.add_argument('--algo_name',default='PolicyGradient',type=str,help="name of algorithm") - parser.add_argument('--env_name',default='CartPole-v0',type=str,help="name of environment") - parser.add_argument('--train_eps',default=200,type=int,help="episodes of training") - parser.add_argument('--test_eps',default=20,type=int,help="episodes of testing") - parser.add_argument('--gamma',default=0.99,type=float,help="discounted factor") - parser.add_argument('--lr',default=0.005,type=float,help="learning rate") - parser.add_argument('--update_fre',default=8,type=int) - parser.add_argument('--hidden_dim',default=36,type=int) - parser.add_argument('--device',default='cpu',type=str,help="cpu or cuda") - parser.add_argument('--seed',default=1,type=int,help="seed") - parser.add_argument('--result_path',default=curr_path + "/outputs/" + parser.parse_args().env_name + \ - '/' + curr_time + '/results/' ) - parser.add_argument('--model_path',default=curr_path + "/outputs/" + parser.parse_args().env_name + \ - '/' + curr_time + '/models/' ) # path to save models - parser.add_argument('--save_fig',default=True,type=bool,help="if save figure or not") - parser.add_argument('--show_fig',default=False,type=bool,help="if show figure or not") - args = parser.parse_args([]) - return args - -class PGNet(MLP): - ''' instead of outputing action, PG Net outputs propabilities of actions, we can use class inheritance from MLP here - ''' - def forward(self, x): - x = F.relu(self.fc1(x)) - x = F.relu(self.fc2(x)) - x = F.sigmoid(self.fc3(x)) - return x - -def env_agent_config(cfg): - env = gym.make(cfg.env_name) - if cfg.seed !=0: # set random seed - all_seed(env,seed=cfg.seed) - n_states = env.observation_space.shape[0] - n_actions = env.action_space.n # action dimension - print(f"state dim: {n_states}, action dim: {n_actions}") - model = PGNet(n_states,1,hidden_dim=cfg.hidden_dim) - memory = PGReplay() - agent = PolicyGradient(n_states,model,memory,cfg) - return env,agent - -def train(cfg,env,agent): - print('Start training!') - print(f'Env:{cfg.env_name}, Algo:{cfg.algo_name}, Device:{cfg.device}') - rewards = [] - for i_ep in range(cfg.train_eps): - state = env.reset() - ep_reward = 0 - for _ in count(): - action = agent.sample_action(state) # sample action - next_state, reward, done, _ = env.step(action) - ep_reward += reward - if done: - reward = 0 - agent.memory.push((state,float(action),reward)) - state = next_state - if done: - print(f'Episode：{i_ep+1}/{cfg.train_eps}, Reward:{ep_reward:.2f}') - break - if (i_ep+1) % cfg.update_fre == 0: - agent.update() - rewards.append(ep_reward) - print('Finish training!') - env.close() # close environment - res_dic = {'episodes':range(len(rewards)),'rewards':rewards} - return res_dic - - -def test(cfg,env,agent): - print("start testing!") - print(f"Env: {cfg.env_name}, Algo: {cfg.algo_name}, Device: {cfg.device}") - rewards = [] - for i_ep in range(cfg.test_eps): - state = env.reset() - ep_reward = 0 - for _ in count(): - action = agent.predict_action(state) - next_state, reward, done, _ = env.step(action) - ep_reward += reward - if done: - reward = 0 - state = next_state - if done: - print(f'Episode: {i_ep+1}/{cfg.test_eps}，Reward: {ep_reward:.2f}') - break - rewards.append(ep_reward) - print("finish testing!") - env.close() - return {'episodes':range(len(rewards)),'rewards':rewards} - -if __name__ == "__main__": - cfg = get_args() - env, agent = env_agent_config(cfg) - res_dic = train(cfg, env, agent) - save_args(cfg,path = cfg.result_path) # save parameters - agent.save_model(path = cfg.model_path) # save models - save_results(res_dic, tag = 'train', path = cfg.result_path) # save results - plot_rewards(res_dic['rewards'], cfg, path = cfg.result_path,tag = "train") # plot results - # testing - env, agent = env_agent_config(cfg) # create new env for testing, sometimes can ignore this step - agent.load_model(path = cfg.model_path) # load model - res_dic = test(cfg, env, agent) - save_results(res_dic, tag='test', - path = cfg.result_path) - plot_rewards(res_dic['rewards'], cfg, path = cfg.result_path,tag = "test") - - diff --git a/projects/codes/QLearning/main.py b/projects/codes/QLearning/main.py index 5939722..8f423ef 100644 --- a/projects/codes/QLearning/main.py +++ b/projects/codes/QLearning/main.py @@ -5,7 +5,7 @@ Author: John Email: johnjim0816@gmail.com Date: 2020-09-11 23:03:00 LastEditor: John -LastEditTime: 2022-08-24 11:27:01 +LastEditTime: 2022-08-25 14:59:15 Discription: Environment: ''' @@ -18,136 +18,102 @@ sys.path.append(parent_path) # add path to system path import gym import datetime import argparse -from envs.gridworld_env import CliffWalkingWapper,FrozenLakeWapper +from envs.gridworld_env import FrozenLakeWapper +from envs.wrappers import CliffWalkingWapper +from envs.register import register_env from qlearning import QLearning -from common.utils import plot_rewards,save_args,all_seed -from common.utils import save_results,make_dir - -def get_args(): - curr_time = datetime.datetime.now().strftime("%Y%m%d-%H%M%S") # obtain current time - parser = argparse.ArgumentParser(description="hyperparameters") - parser.add_argument('--algo_name',default='Q-learning',type=str,help="name of algorithm") - parser.add_argument('--env_name',default='CliffWalking-v0',type=str,help="name of environment") - parser.add_argument('--train_eps',default=400,type=int,help="episodes of training") - parser.add_argument('--test_eps',default=20,type=int,help="episodes of testing") - parser.add_argument('--gamma',default=0.90,type=float,help="discounted factor") - parser.add_argument('--epsilon_start',default=0.95,type=float,help="initial value of epsilon") - parser.add_argument('--epsilon_end',default=0.01,type=float,help="final value of epsilon") - parser.add_argument('--epsilon_decay',default=300,type=int,help="decay rate of epsilon") - parser.add_argument('--lr',default=0.1,type=float,help="learning rate") - parser.add_argument('--device',default='cpu',type=str,help="cpu or cuda") - parser.add_argument('--seed',default=10,type=int,help="seed") - parser.add_argument('--show_fig',default=False,type=bool,help="if show figure or not") - parser.add_argument('--save_fig',default=True,type=bool,help="if save figure or not") - args = parser.parse_args() - default_args = {'result_path':f"{curr_path}/outputs/{args.env_name}/{curr_time}/results/", - 'model_path':f"{curr_path}/outputs/{args.env_name}/{curr_time}/models/", - } - args = {**vars(args),**default_args} # type(dict) - return args -def env_agent_config(cfg): - ''' create env and agent - ''' - if cfg['env_name'] == 'CliffWalking-v0': - env = gym.make(cfg['env_name']) - env = CliffWalkingWapper(env) - if cfg['env_name'] == 'FrozenLake-v1': - env = gym.make(cfg['env_name'],is_slippery=False) - if cfg['seed'] !=0: # set random seed - all_seed(env,seed=cfg["seed"]) - n_states = env.observation_space.n # state dimension - n_actions = env.action_space.n # action dimension - print(f"n_states: {n_states}, n_actions: {n_actions}") - cfg.update({"n_states":n_states,"n_actions":n_actions}) # update to cfg paramters - agent = QLearning(cfg) - return env,agent - -def main(cfg,env,agent,tag = 'train'): - print(f"Start {tag}ing!") - print(f"Env: {cfg['env_name']}, Algorithm: {cfg['algo_name']}, Device: {cfg['device']}") - rewards = [] # 记录奖励 - for i_ep in range(cfg.train_eps): - ep_reward = 0 # 记录每个回合的奖励 - state = env.reset() # 重置环境,即开始新的回合 - while True: - if tag == 'train':action = agent.sample_action(state) # 根据算法采样一个动作 - else: agent.predict_action(state) - next_state, reward, done, _ = env.step(action) # 与环境进行一次动作交互 - if tag == 'train':agent.update(state, action, reward, next_state, done) # Q学习算法更新 - state = next_state # 更新状态 - ep_reward += reward - if done: - break - rewards.append(ep_reward) - print(f"回合：{i_ep+1}/{cfg.train_eps}，奖励：{ep_reward:.1f}，Epsilon：{agent.epsilon}") - print(f"Finish {tag}ing!") - return {"rewards":rewards} - -def train(cfg,env,agent): - print("Start training!") - print(f"Env: {cfg['env_name']}, Algorithm: {cfg['algo_name']}, Device: {cfg['device']}") - rewards = [] # record rewards for all episodes - steps = [] # record steps for all episodes - for i_ep in range(cfg['train_eps']): - ep_reward = 0 # reward per episode - ep_step = 0 # step per episode - state = env.reset() # reset and obtain initial state - while True: - action = agent.sample_action(state) # sample action - next_state, reward, done, _ = env.step(action) # update env and return transitions - agent.update(state, action, reward, next_state, done) # update agent - state = next_state # update state - ep_reward += reward - ep_step += 1 - if done: - break - rewards.append(ep_reward) - steps.append(ep_step) - if (i_ep+1)%10==0: - print(f'Episode: {i_ep+1}/{cfg["train_eps"]}, Reward: {ep_reward:.2f}, Steps:{ep_step}, Epislon: {agent.epsilon:.3f}') - print("Finish training!") - return {'episodes':range(len(rewards)),'rewards':rewards,'steps':steps} - -def test(cfg,env,agent): - print("Start testing!") - print(f"Env: {cfg['env_name']}, Algorithm: {cfg['algo_name']}, Device: {cfg['device']}") - rewards = [] # record rewards for all episodes - steps = [] # record steps for all episodes - for i_ep in range(cfg['test_eps']): - ep_reward = 0 # reward per episode - ep_step = 0 - state = env.reset() # reset and obtain initial state - while True: - action = agent.predict_action(state) # predict action - next_state, reward, done, _ = env.step(action) - state = next_state - ep_reward += reward - ep_step += 1 - if done: - break - rewards.append(ep_reward) - steps.append(ep_step) - print(f"Episode: {i_ep+1}/{cfg['test_eps']}, Steps:{ep_step}, Reward: {ep_reward:.2f}") - print("Finish testing!") - return {'episodes':range(len(rewards)),'rewards':rewards,'steps':steps} +from common.utils import all_seed +from common.launcher import Launcher +class Main(Launcher): + def get_args(self): + curr_time = datetime.datetime.now().strftime("%Y%m%d-%H%M%S") # obtain current time + parser = argparse.ArgumentParser(description="hyperparameters") + parser.add_argument('--algo_name',default='Q-learning',type=str,help="name of algorithm") + parser.add_argument('--env_name',default='CliffWalking-v0',type=str,help="name of environment") + parser.add_argument('--train_eps',default=400,type=int,help="episodes of training") + parser.add_argument('--test_eps',default=20,type=int,help="episodes of testing") + parser.add_argument('--gamma',default=0.90,type=float,help="discounted factor") + parser.add_argument('--epsilon_start',default=0.95,type=float,help="initial value of epsilon") + parser.add_argument('--epsilon_end',default=0.01,type=float,help="final value of epsilon") + parser.add_argument('--epsilon_decay',default=300,type=int,help="decay rate of epsilon") + parser.add_argument('--lr',default=0.1,type=float,help="learning rate") + parser.add_argument('--device',default='cpu',type=str,help="cpu or cuda") + parser.add_argument('--seed',default=10,type=int,help="seed") + parser.add_argument('--show_fig',default=False,type=bool,help="if show figure or not") + parser.add_argument('--save_fig',default=True,type=bool,help="if save figure or not") + args = parser.parse_args() + default_args = {'result_path':f"{curr_path}/outputs/{args.env_name}/{curr_time}/results/", + 'model_path':f"{curr_path}/outputs/{args.env_name}/{curr_time}/models/", + } + args = {**vars(args),**default_args} # type(dict) + return args + def env_agent_config(self,cfg): + ''' create env and agent + ''' + register_env(cfg['env_name']) + env = gym.make(cfg['env_name']) + if cfg['env_name'] == 'CliffWalking-v0': + env = CliffWalkingWapper(env) + if cfg['seed'] !=0: # set random seed + all_seed(env,seed=cfg["seed"]) + n_states = env.observation_space.n # state dimension + n_actions = env.action_space.n # action dimension + print(f"n_states: {n_states}, n_actions: {n_actions}") + cfg.update({"n_states":n_states,"n_actions":n_actions}) # update to cfg paramters + agent = QLearning(cfg) + return env,agent + def train(self,cfg,env,agent): + print("Start training!") + print(f"Env: {cfg['env_name']}, Algorithm: {cfg['algo_name']}, Device: {cfg['device']}") + rewards = [] # record rewards for all episodes + steps = [] # record steps for all episodes + for i_ep in range(cfg['train_eps']): + ep_reward = 0 # reward per episode + ep_step = 0 # step per episode + state = env.reset() # reset and obtain initial state + while True: + action = agent.sample_action(state) # sample action + next_state, reward, done, _ = env.step(action) # update env and return transitions + agent.update(state, action, reward, next_state, done) # update agent + state = next_state # update state + ep_reward += reward + ep_step += 1 + if done: + break + rewards.append(ep_reward) + steps.append(ep_step) + if (i_ep+1)%10==0: + print(f'Episode: {i_ep+1}/{cfg["train_eps"]}, Reward: {ep_reward:.2f}, Steps:{ep_step}, Epislon: {agent.epsilon:.3f}') + print("Finish training!") + return {'episodes':range(len(rewards)),'rewards':rewards,'steps':steps} + def test(self,cfg,env,agent): + print("Start testing!") + print(f"Env: {cfg['env_name']}, Algorithm: {cfg['algo_name']}, Device: {cfg['device']}") + rewards = [] # record rewards for all episodes + steps = [] # record steps for all episodes + for i_ep in range(cfg['test_eps']): + ep_reward = 0 # reward per episode + ep_step = 0 + state = env.reset() # reset and obtain initial state + while True: + action = agent.predict_action(state) # predict action + next_state, reward, done, _ = env.step(action) + state = next_state + ep_reward += reward + ep_step += 1 + if done: + break + rewards.append(ep_reward) + steps.append(ep_step) + print(f"Episode: {i_ep+1}/{cfg['test_eps']}, Steps:{ep_step}, Reward: {ep_reward:.2f}") + print("Finish testing!") + return {'episodes':range(len(rewards)),'rewards':rewards,'steps':steps} if __name__ == "__main__": - cfg = get_args() - # training - env, agent = env_agent_config(cfg) - res_dic = train(cfg, env, agent) - save_args(cfg,path = cfg['result_path']) # save parameters - agent.save_model(path = cfg['model_path']) # save models - save_results(res_dic, tag = 'train', path = cfg['result_path']) # save results - plot_rewards(res_dic['rewards'], cfg, path = cfg['result_path'],tag = "train") # plot results - # testing - env, agent = env_agent_config(cfg) # create new env for testing, sometimes can ignore this step - agent.load_model(path = cfg['model_path']) # load model - res_dic = test(cfg, env, agent) - save_results(res_dic, tag='test', - path = cfg['result_path']) - plot_rewards(res_dic['rewards'], cfg, path = cfg['result_path'],tag = "test") + main = Main() + main.run() + diff --git a/projects/codes/QLearning/outputs/FrozenLake-v1/20220824-112735/models/Qleaning_model.pkl b/projects/codes/QLearning/outputs/FrozenLake-v1/20220824-112735/models/Qleaning_model.pkl deleted file mode 100644 index 852450152c8452413c7ba068d3795ad64f4ebf0b..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 2543 zcmb7`X>$}s7{@0ENtkdM1eHtVa-*=Dkca^yYY;cckY&>`I6-8bot>mNnVsEdrWXww z<#2N#5Drno5eSE9iI#6H(6Y2@x_qZq`Xzi}`5m--j!ibg3wvvKdiwbP{?F4rJDrd! 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+LastEditor: John +LastEditTime: 2022-08-25 14:26:36 +Discription: +Environment: +''' +import sys,os +os.environ["KMP_DUPLICATE_LIB_OK"] = "TRUE" # avoid "OMP: Error #15: Initializing libiomp5md.dll, but found libiomp5md.dll already initialized." +curr_path = os.path.dirname(os.path.abspath(__file__)) # current path +parent_path = os.path.dirname(curr_path) # parent path +sys.path.append(parent_path) # add path to system path +import gym +import datetime +import argparse +from envs.register import register_env +from envs.wrappers import CliffWalkingWapper +from Sarsa.sarsa import Sarsa +from common.utils import save_results,make_dir,plot_rewards,save_args,all_seed + +def get_args(): + curr_time = datetime.datetime.now().strftime("%Y%m%d-%H%M%S") # obtain current time + parser = argparse.ArgumentParser(description="hyperparameters") + parser.add_argument('--algo_name',default='Sarsa',type=str,help="name of algorithm") + parser.add_argument('--env_name',default='Racetrack-v0',type=str,help="name of environment") + parser.add_argument('--train_eps',default=300,type=int,help="episodes of training") + parser.add_argument('--test_eps',default=20,type=int,help="episodes of testing") + parser.add_argument('--gamma',default=0.99,type=float,help="discounted factor") + parser.add_argument('--epsilon_start',default=0.90,type=float,help="initial value of epsilon") + parser.add_argument('--epsilon_end',default=0.01,type=float,help="final value of epsilon") + parser.add_argument('--epsilon_decay',default=200,type=int,help="decay rate of epsilon") + parser.add_argument('--lr',default=0.2,type=float,help="learning rate") + parser.add_argument('--device',default='cpu',type=str,help="cpu or cuda") + parser.add_argument('--seed',default=10,type=int,help="seed") + parser.add_argument('--show_fig',default=False,type=bool,help="if show figure or not") + parser.add_argument('--save_fig',default=True,type=bool,help="if save figure or not") + args = parser.parse_args() + default_args = {'result_path':f"{curr_path}/outputs/{args.env_name}/{curr_time}/results/", + 'model_path':f"{curr_path}/outputs/{args.env_name}/{curr_time}/models/", + } + args = {**vars(args),**default_args} # type(dict) + return args + +def env_agent_config(cfg): + register_env(cfg['env_name']) + env = gym.make(cfg['env_name']) + if cfg['seed'] !=0: # set random seed + all_seed(env,seed= cfg['seed']) + if cfg['env_name'] == 'CliffWalking-v0': + env = CliffWalkingWapper(env) + try: # state dimension + n_states = env.observation_space.n # print(hasattr(env.observation_space, 'n')) + except AttributeError: + n_states = env.observation_space.shape[0] # print(hasattr(env.observation_space, 'shape')) + n_actions = env.action_space.n # action dimension + print(f"n_states: {n_states}, n_actions: {n_actions}") + cfg.update({"n_states":n_states,"n_actions":n_actions}) # update to cfg paramters + agent = Sarsa(cfg) + return env,agent + +def train(cfg,env,agent): + print("Start training!") + print(f"Env: {cfg['env_name']}, Algorithm: {cfg['algo_name']}, Device: {cfg['device']}") + rewards = [] # record rewards for all episodes + steps = [] # record steps for all episodes + for i_ep in range(cfg['train_eps']): + ep_reward = 0 # reward per episode + ep_step = 0 # step per episode + state = env.reset() # reset and obtain initial state + action = agent.sample_action(state) + while True: + # for _ in range(cfg.ep_max_steps): + next_state, reward, done, _ = env.step(action) # update env and return transitions + next_action = agent.sample_action(next_state) + agent.update(state, action, reward, next_state, next_action,done) # update agent + state = next_state # update state + action = next_action + ep_reward += reward + ep_step += 1 + if done: + break + rewards.append(ep_reward) + steps.append(ep_step) + if (i_ep+1)%10==0: + print(f'Episode: {i_ep+1}/{cfg["train_eps"]}, Reward: {ep_reward:.2f}, Steps:{ep_step}, Epislon: {agent.epsilon:.3f}') + print("Finish training!") + return {'episodes':range(len(rewards)),'rewards':rewards,'steps':steps} + +def test(cfg,env,agent): + print("Start testing!") + print(f"Env: {cfg['env_name']}, Algorithm: {cfg['algo_name']}, Device: {cfg['device']}") + rewards = [] # record rewards for all episodes + steps = [] # record steps for all episodes + for i_ep in range(cfg['test_eps']): + ep_reward = 0 # reward per episode + ep_step = 0 + while True: + # for _ in range(cfg.ep_max_steps): + action = agent.predict_action(state) + next_state, reward, done = env.step(action) + state = next_state + ep_reward+=reward + ep_step+=1 + if done: + break + rewards.append(ep_reward) + steps.append(ep_step) + print(f"Episode: {i_ep+1}/{cfg['test_eps']}, Steps:{ep_step}, Reward: {ep_reward:.2f}") + print("Finish testing!") + return {'episodes':range(len(rewards)),'rewards':rewards,'steps':steps} + +if __name__ == "__main__": + cfg = get_args() + # 训练 + env, agent = env_agent_config(cfg) + res_dic = train(cfg, env, agent) + make_dir(cfg.result_path, cfg.model_path) + save_args(cfg) # save parameters + agent.save(path=cfg.model_path) # save model + save_results(res_dic, tag='train', + path=cfg.result_path) + plot_rewards(res_dic['rewards'], cfg, tag="train") + # 测试 + env, agent = env_agent_config(cfg) + agent.load(path=cfg.model_path) # 导入模型 + res_dic = test(cfg, env, agent) + save_results(res_dic, tag='test', + path=cfg.result_path) # 保存结果 + plot_rewards(res_dic['rewards'], cfg, tag="test") # 画出结果 + + + diff --git a/projects/codes/Sarsa/sarsa.py b/projects/codes/Sarsa/sarsa.py index 79b5997..c10d226 100644 --- a/projects/codes/Sarsa/sarsa.py +++ b/projects/codes/Sarsa/sarsa.py @@ -5,7 +5,7 @@ Author: John Email: johnjim0816@gmail.com Date: 2021-03-12 16:58:16 LastEditor: John -LastEditTime: 2022-08-04 22:22:16 +LastEditTime: 2022-08-25 00:23:22 Discription: Environment: ''' @@ -14,45 +14,51 @@ from collections import defaultdict import torch import math class Sarsa(object): - def __init__(self, - n_actions,cfg): - self.n_actions = n_actions - self.lr = cfg.lr - self.gamma = cfg.gamma - self.sample_count = 0 - self.epsilon_start = cfg.epsilon_start - self.epsilon_end = cfg.epsilon_end - self.epsilon_decay = cfg.epsilon_decay - self.Q = defaultdict(lambda: np.zeros(n_actions)) # Q table - def sample(self, state): + def __init__(self,cfg): + self.n_actions = cfg['n_actions'] + self.lr = cfg['lr'] + self.gamma = cfg['gamma'] + self.epsilon = cfg['epsilon_start'] + self.sample_count = 0 + self.epsilon_start = cfg['epsilon_start'] + self.epsilon_end = cfg['epsilon_end'] + self.epsilon_decay = cfg['epsilon_decay'] + self.Q_table = defaultdict(lambda: np.zeros(self.n_actions)) # Q table + def sample_action(self, state): + ''' another way to represent e-greedy policy + ''' self.sample_count += 1 self.epsilon = self.epsilon_end + (self.epsilon_start - self.epsilon_end) * \ math.exp(-1. * self.sample_count / self.epsilon_decay) # The probability to select a random action, is is log decayed - best_action = np.argmax(self.Q[state]) + best_action = np.argmax(self.Q_table[state]) action_probs = np.ones(self.n_actions, dtype=float) * self.epsilon / self.n_actions action_probs[best_action] += (1.0 - self.epsilon) action = np.random.choice(np.arange(len(action_probs)), p=action_probs) return action - def predict(self,state): - return np.argmax(self.Q[state]) - def update(self, state, action, reward, next_state, next_action,done): - Q_predict = self.Q[state][action] - if done: - Q_target = reward # 终止状态 - else: - Q_target = reward + self.gamma * self.Q[next_state][next_action] # 与Q learning不同，Sarsa是拿下一步动作对应的Q值去更新 - self.Q[state][action] += self.lr * (Q_target - Q_predict) - def save(self,path): - '''把 Q表格 的数据保存到文件中 + def predict_action(self,state): + ''' predict action while testing ''' + action = np.argmax(self.Q_table[state]) + return action + def update(self, state, action, reward, next_state, next_action,done): + Q_predict = self.Q_table[state][action] + if done: + Q_target = reward # terminal state + else: + Q_target = reward + self.gamma * self.Q_table[next_state][next_action] # the only difference from Q learning + self.Q_table[state][action] += self.lr * (Q_target - Q_predict) + def save_model(self,path): import dill + from pathlib import Path + # create path + Path(path).mkdir(parents=True, exist_ok=True) torch.save( - obj=self.Q, - f=path+"sarsa_model.pkl", + obj=self.Q_table_table, + f=path+"checkpoint.pkl", pickle_module=dill ) - def load(self, path): - '''从文件中读取数据到 Q表格 - ''' + print("Model saved!") + def load_model(self, path): import dill - self.Q =torch.load(f=path+'sarsa_model.pkl',pickle_module=dill) \ No newline at end of file + self.Q_table_table =torch.load(f=path+'checkpoint.pkl',pickle_module=dill) + print("Mode loaded!") \ No newline at end of file diff --git a/projects/codes/Sarsa/task0.py b/projects/codes/Sarsa/task0.py deleted file mode 100644 index fb84222..0000000 --- a/projects/codes/Sarsa/task0.py +++ /dev/null @@ -1,118 +0,0 @@ -#!/usr/bin/env python -# coding=utf-8 -''' -Author: John -Email: johnjim0816@gmail.com -Date: 2021-03-11 17:59:16 -LastEditor: John -LastEditTime: 2022-08-04 22:28:51 -Discription: -Environment: -''' -import sys,os -curr_path = os.path.dirname(os.path.abspath(__file__)) # 当前文件所在绝对路径 -parent_path = os.path.dirname(curr_path) # 父路径 -sys.path.append(parent_path) # 添加路径到系统路径 - -import datetime -import argparse -from envs.racetrack_env import RacetrackEnv -from Sarsa.sarsa import Sarsa -from common.utils import save_results,make_dir,plot_rewards,save_args - -def get_args(): - """ 超参数 - """ - curr_time = datetime.datetime.now().strftime("%Y%m%d-%H%M%S") # 获取当前时间 - parser = argparse.ArgumentParser(description="hyperparameters") - parser.add_argument('--algo_name',default='Sarsa',type=str,help="name of algorithm") - parser.add_argument('--env_name',default='CliffWalking-v0',type=str,help="name of environment") - parser.add_argument('--train_eps',default=300,type=int,help="episodes of training") # 训练的回合数 - parser.add_argument('--test_eps',default=20,type=int,help="episodes of testing") # 测试的回合数 - parser.add_argument('--ep_max_steps',default=200,type=int) # 每回合最大的部署 - parser.add_argument('--gamma',default=0.99,type=float,help="discounted factor") # 折扣因子 - parser.add_argument('--epsilon_start',default=0.90,type=float,help="initial value of epsilon") # e-greedy策略中初始epsilon - parser.add_argument('--epsilon_end',default=0.01,type=float,help="final value of epsilon") # e-greedy策略中的终止epsilon - parser.add_argument('--epsilon_decay',default=200,type=int,help="decay rate of epsilon") # e-greedy策略中epsilon的衰减率 - parser.add_argument('--lr',default=0.2,type=float,help="learning rate") - parser.add_argument('--device',default='cpu',type=str,help="cpu or cuda") - parser.add_argument('--result_path',default=curr_path + "/outputs/" + parser.parse_args().env_name + \ - '/' + curr_time + '/results/' ) - parser.add_argument('--model_path',default=curr_path + "/outputs/" + parser.parse_args().env_name + \ - '/' + curr_time + '/models/' ) # path to save models - parser.add_argument('--save_fig',default=True,type=bool,help="if save figure or not") - args = parser.parse_args() - return args - - -def env_agent_config(cfg,seed=1): - env = RacetrackEnv() - n_actions = 9 # 动作数 - agent = Sarsa(n_actions,cfg) - return env,agent - -def train(cfg,env,agent): - print('开始训练！') - print(f'环境:{cfg.env_name}, 算法:{cfg.algo_name}, 设备:{cfg.device}') - rewards = [] # 记录奖励 - for i_ep in range(cfg.train_eps): - state = env.reset() - action = agent.sample(state) - ep_reward = 0 - # while True: - for _ in range(cfg.ep_max_steps): - next_state, reward, done = env.step(action) - ep_reward+=reward - next_action = agent.sample(next_state) - agent.update(state, action, reward, next_state, next_action,done) - state = next_state - action = next_action - if done: - break - rewards.append(ep_reward) - if (i_ep+1)%2==0: - print(f"回合：{i_ep+1}/{cfg.train_eps}，奖励：{ep_reward:.1f}，Epsilon：{agent.epsilon}") - print('完成训练！') - return {"rewards":rewards} - -def test(cfg,env,agent): - print('开始测试！') - print(f'环境：{cfg.env_name}, 算法：{cfg.algo_name}, 设备：{cfg.device}') - rewards = [] - for i_ep in range(cfg.test_eps): - state = env.reset() - ep_reward = 0 - # while True: - for _ in range(cfg.ep_max_steps): - action = agent.predict(state) - next_state, reward, done = env.step(action) - ep_reward+=reward - state = next_state - if done: - break - rewards.append(ep_reward) - print(f"回合数：{i_ep+1}/{cfg.test_eps}, 奖励：{ep_reward:.1f}") - print('完成测试！') - return {"rewards":rewards} - -if __name__ == "__main__": - cfg = get_args() - # 训练 - env, agent = env_agent_config(cfg) - res_dic = train(cfg, env, agent) - make_dir(cfg.result_path, cfg.model_path) - save_args(cfg) # save parameters - agent.save(path=cfg.model_path) # save model - save_results(res_dic, tag='train', - path=cfg.result_path) - plot_rewards(res_dic['rewards'], cfg, tag="train") - # 测试 - env, agent = env_agent_config(cfg) - agent.load(path=cfg.model_path) # 导入模型 - res_dic = test(cfg, env, agent) - save_results(res_dic, tag='test', - path=cfg.result_path) # 保存结果 - plot_rewards(res_dic['rewards'], cfg, tag="test") # 画出结果 - - - diff --git a/projects/codes/common/launcher.py b/projects/codes/common/launcher.py new file mode 100644 index 0000000..d26bce1 --- /dev/null +++ b/projects/codes/common/launcher.py @@ -0,0 +1,32 @@ +from common.utils import save_args,save_results,plot_rewards +class Launcher: + def __init__(self) -> None: + pass + def get_args(self): + cfg = {} + return cfg + def env_agent_config(self,cfg): + env,agent = None,None + return env,agent + def train(self,cfg, env, agent): + res_dic = {} + return res_dic + def test(self,cfg, env, agent): + res_dic = {} + return res_dic + + def run(self): + cfg = self.get_args() + env, agent = self.env_agent_config(cfg) + res_dic = self.train(cfg, env, agent) + save_args(cfg,path = cfg['result_path']) # save parameters + agent.save_model(path = cfg['model_path']) # save models + save_results(res_dic, tag = 'train', path = cfg['result_path']) # save results + plot_rewards(res_dic['rewards'], cfg, path = cfg['result_path'],tag = "train") # plot results + # testing + env, agent = self.env_agent_config(cfg) # create new env for testing, sometimes can ignore this step + agent.load_model(path = cfg['model_path']) # load model + res_dic = self.test(cfg, env, agent) + save_results(res_dic, tag='test', + path = cfg['result_path']) + plot_rewards(res_dic['rewards'], cfg, path = cfg['result_path'],tag = "test") diff --git a/projects/codes/envs/gridworld_env.py b/projects/codes/envs/gridworld_env.py index ae3f871..9d0724a 100644 --- a/projects/codes/envs/gridworld_env.py +++ b/projects/codes/envs/gridworld_env.py @@ -72,84 +72,6 @@ class FrozenLakeWapper(gym.Wrapper): self.move_player(x_pos, y_pos) -class CliffWalkingWapper(gym.Wrapper): - def __init__(self, env): - gym.Wrapper.__init__(self, env) - self.t = None - self.unit = 50 - self.max_x = 12 - self.max_y = 4 - - def draw_x_line(self, y, x0, x1, color='gray'): - assert x1 > x0 - self.t.color(color) - self.t.setheading(0) - self.t.up() - self.t.goto(x0, y) - self.t.down() - self.t.forward(x1 - x0) - - def draw_y_line(self, x, y0, y1, color='gray'): - assert y1 > y0 - self.t.color(color) - self.t.setheading(90) - self.t.up() - self.t.goto(x, y0) - self.t.down() - self.t.forward(y1 - y0) - - def draw_box(self, x, y, fillcolor='', line_color='gray'): - self.t.up() - self.t.goto(x * self.unit, y * self.unit) - self.t.color(line_color) - self.t.fillcolor(fillcolor) - self.t.setheading(90) - self.t.down() - self.t.begin_fill() - for i in range(4): - self.t.forward(self.unit) - self.t.right(90) - self.t.end_fill() - - def move_player(self, x, y): - self.t.up() - self.t.setheading(90) - self.t.fillcolor('red') - self.t.goto((x + 0.5) * self.unit, (y + 0.5) * self.unit) - - def render(self): - if self.t == None: - self.t = turtle.Turtle() - self.wn = turtle.Screen() - self.wn.setup(self.unit * self.max_x + 100, - self.unit * self.max_y + 100) - self.wn.setworldcoordinates(0, 0, self.unit * self.max_x, - self.unit * self.max_y) - self.t.shape('circle') - self.t.width(2) - self.t.speed(0) - self.t.color('gray') - for _ in range(2): - self.t.forward(self.max_x * self.unit) - self.t.left(90) - self.t.forward(self.max_y * self.unit) - self.t.left(90) - for i in range(1, self.max_y): - self.draw_x_line( - y=i * self.unit, x0=0, x1=self.max_x * self.unit) - for i in range(1, self.max_x): - self.draw_y_line( - x=i * self.unit, y0=0, y1=self.max_y * self.unit) - - for i in range(1, self.max_x - 1): - self.draw_box(i, 0, 'black') - self.draw_box(self.max_x - 1, 0, 'yellow') - self.t.shape('turtle') - - x_pos = self.s % self.max_x - y_pos = self.max_y - 1 - int(self.s / self.max_x) - self.move_player(x_pos, y_pos) - if __name__ == '__main__': # 环境1：FrozenLake, 可以配置冰面是否是滑的 diff --git a/projects/codes/envs/racetrack_env.py b/projects/codes/envs/racetrack.py similarity index 84% rename from projects/codes/envs/racetrack_env.py rename to projects/codes/envs/racetrack.py index e3a7413..69836d5 100644 --- a/projects/codes/envs/racetrack_env.py +++ b/projects/codes/envs/racetrack.py @@ -1,10 +1,3 @@ -# Please do not make changes to this file - it will be overwritten with a clean -# version when your work is marked. -# -# This file contains code for the racetrack environment that you will be using -# as part of the second part of the CM50270: Reinforcement Learning coursework. - -import imp import time import random import numpy as np @@ -12,23 +5,20 @@ import os import matplotlib.pyplot as plt import matplotlib.patheffects as pe from IPython.display import clear_output -from gym.spaces import Discrete +from gym.spaces import Discrete,Box from matplotlib import colors +import gym -class RacetrackEnv(object) : +class RacetrackEnv(gym.Env) : """ Class representing a race-track environment inspired by exercise 5.12 in Sutton & Barto 2018 (p.111). Please do not make changes to this class - it will be overwritten with a clean version when it comes to marking. The dynamics of this environment are detailed in this coursework exercise's jupyter notebook, although I have included rather verbose comments here for those of you who are interested in how the environment has been - implemented (though this should not impact your solution code). - - If you find any *bugs* with this code, please let me know immediately - thank you for finding them, sorry that I didn't! - However, please do not suggest optimisations - some things have been purposely simplified for readability's sake. + implemented (though this should not impact your solution code).ss """ - ACTIONS_DICT = { 0 : (1, -1), # Acc Vert., Brake Horiz. 1 : (1, 0), # Acc Vert., Hold Horiz. @@ -61,18 +51,15 @@ class RacetrackEnv(object) : for x in range(self.track.shape[1]) : if (self.CELL_TYPES_DICT[self.track[y, x]] == "start") : self.initial_states.append((y, x)) - + high= np.array([np.finfo(np.float32).max, np.finfo(np.float32).max, np.finfo(np.float32).max, np.finfo(np.float32).max]) + self.observation_space = Box(low=-high, high=high, shape=(4,), dtype=np.float32) self.action_space = Discrete(9) self.is_reset = False - #print("Racetrack Environment File Loaded Successfully.") - #print("Be sure to call .reset() before starting to initialise the environment and get an initial state!") - - def step(self, action : int) : """ Takes a given action in the environment's current state, and returns a next state, - reward, and whether the next state is terminal or not. + reward, and whether the next state is done or not. Arguments: action {int} -- The action to take in the environment's current state. Should be an integer in the range [0-8]. @@ -86,7 +73,7 @@ class RacetrackEnv(object) : A tuple of:\n {(int, int, int, int)} -- The next state, a tuple of (y_pos, x_pos, y_velocity, x_velocity).\n {int} -- The reward earned by taking the given action in the current environment state.\n - {bool} -- Whether the environment's next state is terminal or not.\n + {bool} -- Whether the environment's next state is done or not.\n """ @@ -131,7 +118,7 @@ class RacetrackEnv(object) : new_position = (self.position[0] + self.velocity[0], self.position[1] + self.velocity[1]) reward = 0 - terminal = False + done = False # If position is out-of-bounds, return to start and set velocity components to zero. if (new_position[0] < 0 or new_position[1] < 0 or new_position[0] >= self.track.shape[0] or new_position[1] >= self.track.shape[1]) : @@ -150,7 +137,7 @@ class RacetrackEnv(object) : elif (self.CELL_TYPES_DICT[self.track[new_position]] == "goal") : self.position = new_position reward += 10 - terminal = True + done = True # If this gets reached, then the student has touched something they shouldn't have. Naughty! else : raise RuntimeError("You've met with a terrible fate, haven't you?\nDon't modify things you shouldn't!") @@ -158,12 +145,12 @@ class RacetrackEnv(object) : # Penalise every timestep. reward -= 1 - # Require a reset if the current state is terminal. - if (terminal) : + # Require a reset if the current state is done. + if (done) : self.is_reset = False # Return next state, reward, and whether the episode has ended. - return (self.position[0], self.position[1], self.velocity[0], self.velocity[1]), reward, terminal + return np.array([self.position[0], self.position[1], self.velocity[0], self.velocity[1]]), reward, done,{} def reset(self) : @@ -184,10 +171,10 @@ class RacetrackEnv(object) : self.is_reset = True - return (self.position[0], self.position[1], self.velocity[0], self.velocity[1]) + return np.array([self.position[0], self.position[1], self.velocity[0], self.velocity[1]]) - def render(self, sleep_time : float = 0.1) : + def render(self, mode = 'human') : """ Renders a pretty matplotlib plot representing the current state of the environment. Calling this method on subsequent timesteps will update the plot. @@ -230,13 +217,9 @@ class RacetrackEnv(object) : # Draw everything. #fig.canvas.draw() #fig.canvas.flush_events() - plt.show() - - # Sleep if desired. - if (sleep_time > 0) : - time.sleep(sleep_time) - + # time sleep + time.sleep(0.1) def get_actions(self) : """ @@ -244,18 +227,16 @@ class RacetrackEnv(object) : of integers in the range [0-8]. """ return [*self.ACTIONS_DICT] +if __name__ == "__main__": + num_steps = 1000000 + env = RacetrackEnv() + state = env.reset() + print(state) + for _ in range(num_steps) : -# num_steps = 1000000 + next_state, reward, done,_ = env.step(random.choice(env.get_actions())) + print(next_state) + env.render() -# env = RacetrackEnv() -# state = env.reset() -# print(state) - -# for _ in range(num_steps) : - -# next_state, reward, terminal = env.step(random.choice(env.get_actions())) -# print(next_state) -# env.render() - -# if (terminal) : -# _ = env.reset() + if (done) : + _ = env.reset() diff --git a/projects/codes/envs/register.py b/projects/codes/envs/register.py new file mode 100644 index 0000000..d92a93d --- /dev/null +++ b/projects/codes/envs/register.py @@ -0,0 +1,34 @@ + +from gym.envs.registration import register + +def register_env(env_name): + if env_name == 'Racetrack-v0': + register( + id='Racetrack-v0', + entry_point='racetrack:RacetrackEnv', + max_episode_steps=1000, + kwargs={} + ) + elif env_name == 'FrozenLakeNoSlippery-v1': + register( + id='FrozenLakeNoSlippery-v1', + entry_point='gym.envs.toy_text.frozen_lake:FrozenLakeEnv', + kwargs={'map_name':"4x4",'is_slippery':False}, + ) + else: + print("The env name must be wrong or the environment donot need to register!") + +# if __name__ == "__main__": +# import random +# import gym +# env = gym.make('FrozenLakeNoSlippery-v1') +# num_steps = 1000000 +# state = env.reset() +# n_actions = env.action_space.n +# print(state) +# for _ in range(num_steps) : +# next_state, reward, done,_ = env.step(random.choice(range(n_actions))) +# print(next_state) +# if (done) : +# _ = env.reset() + \ No newline at end of file diff --git a/projects/codes/envs/wrappers.py b/projects/codes/envs/wrappers.py new file mode 100644 index 0000000..0baa03b --- /dev/null +++ b/projects/codes/envs/wrappers.py @@ -0,0 +1,78 @@ +import gym +class CliffWalkingWapper(gym.Wrapper): + def __init__(self, env): + gym.Wrapper.__init__(self, env) + self.t = None + self.unit = 50 + self.max_x = 12 + self.max_y = 4 + + def draw_x_line(self, y, x0, x1, color='gray'): + assert x1 > x0 + self.t.color(color) + self.t.setheading(0) + self.t.up() + self.t.goto(x0, y) + self.t.down() + self.t.forward(x1 - x0) + + def draw_y_line(self, x, y0, y1, color='gray'): + assert y1 > y0 + self.t.color(color) + self.t.setheading(90) + self.t.up() + self.t.goto(x, y0) + self.t.down() + self.t.forward(y1 - y0) + + def draw_box(self, x, y, fillcolor='', line_color='gray'): + self.t.up() + self.t.goto(x * self.unit, y * self.unit) + self.t.color(line_color) + self.t.fillcolor(fillcolor) + self.t.setheading(90) + self.t.down() + self.t.begin_fill() + for i in range(4): + self.t.forward(self.unit) + self.t.right(90) + self.t.end_fill() + + def move_player(self, x, y): + self.t.up() + self.t.setheading(90) + self.t.fillcolor('red') + self.t.goto((x + 0.5) * self.unit, (y + 0.5) * self.unit) + + def render(self): + if self.t == None: + self.t = turtle.Turtle() + self.wn = turtle.Screen() + self.wn.setup(self.unit * self.max_x + 100, + self.unit * self.max_y + 100) + self.wn.setworldcoordinates(0, 0, self.unit * self.max_x, + self.unit * self.max_y) + self.t.shape('circle') + self.t.width(2) + self.t.speed(0) + self.t.color('gray') + for _ in range(2): + self.t.forward(self.max_x * self.unit) + self.t.left(90) + self.t.forward(self.max_y * self.unit) + self.t.left(90) + for i in range(1, self.max_y): + self.draw_x_line( + y=i * self.unit, x0=0, x1=self.max_x * self.unit) + for i in range(1, self.max_x): + self.draw_y_line( + x=i * self.unit, y0=0, y1=self.max_y * self.unit) + + for i in range(1, self.max_x - 1): + self.draw_box(i, 0, 'black') + self.draw_box(self.max_x - 1, 0, 'yellow') + self.t.shape('turtle') + + x_pos = self.s % self.max_x + y_pos = self.max_y - 1 - int(self.s / self.max_x) + self.move_player(x_pos, y_pos) \ No newline at end of file diff --git a/projects/codes/scripts/Qlearning_task1.sh b/projects/codes/scripts/Qlearning_task1.sh index 57cc23d..fadb1a6 100644 --- a/projects/codes/scripts/Qlearning_task1.sh +++ b/projects/codes/scripts/Qlearning_task1.sh @@ -11,4 +11,5 @@ else fi conda activate easyrl # easyrl here can be changed to another name of conda env that you have created codes_dir=$(dirname $(dirname $(readlink -f "$0"))) # "codes" path -python $codes_dir/QLearning/main.py --env_name FrozenLake-v1 --train_eps 800 --epsilon_start 0.70 --epsilon_end 0.1 --epsilon_decay 2000 --gamma 0.9 --lr 0.9 --device cpu \ No newline at end of file +python $codes_dir/envs/register.py # register environment +python $codes_dir/QLearning/main.py --env_name FrozenLakeNoSlippery-v1 --train_eps 800 --epsilon_start 0.70 --epsilon_end 0.1 --epsilon_decay 2000 --gamma 0.9 --lr 0.9 --device cpu \ No newline at end of file diff --git a/projects/codes/scripts/Sarsa_task0.sh b/projects/codes/scripts/Sarsa_task0.sh new file mode 100644 index 0000000..49358de --- /dev/null +++ b/projects/codes/scripts/Sarsa_task0.sh @@ -0,0 +1,13 @@ +if [ -f "$HOME/anaconda3/etc/profile.d/conda.sh" ]; then + echo "source file at ~/anaconda3/etc/profile.d/conda.sh" + source ~/anaconda3/etc/profile.d/conda.sh +elif [ -f "$HOME/opt/anaconda3/etc/profile.d/conda.sh" ]; then + echo "source file at ~/opt/anaconda3/etc/profile.d/conda.sh" + source ~/opt/anaconda3/etc/profile.d/conda.sh +else + echo 'please manually config the conda source path' +fi +conda activate easyrl # easyrl here can be changed to another name of conda env that you have created +codes_dir=$(dirname $(dirname $(readlink -f "$0"))) # "codes" path +python $codes_dir/envs/register.py # register environment +python $codes_dir/Sarsa/main.py \ No newline at end of file