update

codes/TD3/agent.py

@@ -92,14 +92,10 @@ class TD3(object):
 		self.critic_optimizer = torch.optim.Adam(self.critic.parameters(), lr=3e-4)
 		self.memory = ReplayBuffer(state_dim, action_dim)
 
-		
-
-
 	def choose_action(self, state):
 		state = torch.FloatTensor(state.reshape(1, -1)).to(self.device)
 		return self.actor(state).cpu().data.numpy().flatten()
 
-
 	def update(self):
 		self.total_it += 1
 
@@ -167,4 +163,4 @@ class TD3(object):
 		self.actor.load_state_dict(torch.load(path + "td3_actor"))
 		self.actor_optimizer.load_state_dict(torch.load(path + "td3_actor_optimizer"))
 		self.actor_target = copy.deepcopy(self.actor)
-		
+		

codes/TD3/task0_eval.py

@@ -0,0 +1,89 @@
+#!/usr/bin/env python
+# coding=utf-8
+'''
+Author: JiangJi
+Email: johnjim0816@gmail.com
+Date: 2021-04-23 20:36:23
+LastEditor: JiangJi
+LastEditTime: 2021-04-23 20:37:22
+Discription: 
+Environment: 
+'''
+import sys,os
+curr_path = os.path.dirname(__file__)
+parent_path=os.path.dirname(curr_path) 
+sys.path.append(parent_path) # add current terminal path to sys.path
+
+import torch
+import gym
+import numpy as np
+import datetime
+
+
+from TD3.agent import TD3
+from common.plot import plot_rewards
+from common.utils import save_results,make_dir
+
+curr_time = datetime.datetime.now().strftime("%Y%m%d-%H%M%S") # obtain current time
+
+class TD3Config:
+	def __init__(self) -> None:
+		self.algo = 'TD3 and Random'
+		self.env = 'HalfCheetah-v2'
+		self.seed = 0
+		self.result_path = curr_path+"/results/" +self.env+'/'+curr_time+'/results/'  # path to save results
+		self.model_path = curr_path+"/results/" +self.env+'/'+curr_time+'/models/'  # path to save models
+		self.start_timestep = 25e3 # Time steps initial random policy is used
+		self.eval_freq = 5e3 # How often (time steps) we evaluate
+		self.max_timestep = 200000 # Max time steps to run environment
+		self.expl_noise = 0.1 # Std of Gaussian exploration noise
+		self.batch_size = 256 # Batch size for both actor and critic
+		self.gamma = 0.99 # gamma factor
+		self.lr = 0.0005 # Target network update rate 
+		self.policy_noise = 0.2 # Noise added to target policy during critic update
+		self.noise_clip = 0.5  # Range to clip target policy noise
+		self.policy_freq = 2 # Frequency of delayed policy updates
+		self.device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
+		
+# Runs policy for X episodes and returns average reward
+# A fixed seed is used for the eval environment
+def eval(env_name,agent, seed, eval_episodes=50):
+	eval_env = gym.make(env_name)
+	eval_env.seed(seed + 100)
+	rewards,ma_rewards =[],[]
+	for i_episode in range(eval_episodes):
+		ep_reward = 0
+		state, done = eval_env.reset(), False
+		while not done:
+			eval_env.render()
+			action = agent.choose_action(np.array(state))
+			state, reward, done, _ = eval_env.step(action)
+			ep_reward += reward
+		print(f"Episode:{i_episode+1}, Reward:{ep_reward:.3f}")
+		rewards.append(ep_reward)
+		# 计算滑动窗口的reward
+		if ma_rewards:
+			ma_rewards.append(0.9*ma_rewards[-1]+0.1*ep_reward)
+		else:
+			ma_rewards.append(ep_reward) 
+	return rewards,ma_rewards
+
+if __name__ == "__main__":
+	cfg  = TD3Config()
+	env = gym.make(cfg.env)
+	env.seed(cfg.seed) # Set seeds
+	torch.manual_seed(cfg.seed)
+	np.random.seed(cfg.seed)
+	state_dim = env.observation_space.shape[0]
+	action_dim = env.action_space.shape[0] 
+	max_action = float(env.action_space.high[0])
+	td3= TD3(state_dim,action_dim,max_action,cfg)
+	cfg.model_path = './TD3/results/HalfCheetah-v2/20210416-130341/models/'
+	td3.load(cfg.model_path)
+	td3_rewards,td3_ma_rewards = eval(cfg.env,td3,cfg.seed)
+	make_dir(cfg.result_path,cfg.model_path)
+	save_results(td3_rewards,td3_ma_rewards,tag='eval',path=cfg.result_path)
+	plot_rewards({'td3_rewards':td3_rewards,'td3_ma_rewards':td3_ma_rewards,},tag="eval",env=cfg.env,algo = cfg.algo,path=cfg.result_path)
+	# cfg.result_path = './TD3/results/HalfCheetah-v2/20210416-130341/'
+	# agent.load(cfg.result_path)
+	# eval(cfg.env,agent, cfg.seed)

codes/TD3/task0_train.py

@@ -21,11 +21,12 @@ class TD3Config:
 		self.algo = 'TD3'
 		self.env = 'HalfCheetah-v2'
 		self.seed = 0
-		self.result_path = curr_path+"/results/" +self.env+'/'+curr_time+'/'  # path to save results
+		self.result_path = curr_path+"/results/" +self.env+'/'+curr_time+'/results/'  # path to save results
+		self.model_path = curr_path+"/results/" +self.env+'/'+curr_time+'/models/'  # path to save models
 		self.start_timestep = 25e3 # Time steps initial random policy is used
 		self.eval_freq = 5e3 # How often (time steps) we evaluate
 		# self.train_eps = 800
-		self.max_timestep = 1600000 # Max time steps to run environment
+		self.max_timestep = 4000000 # Max time steps to run environment
 		self.expl_noise = 0.1 # Std of Gaussian exploration noise
 		self.batch_size = 256 # Batch size for both actor and critic
 		self.gamma = 0.99 # gamma factor
@@ -161,9 +162,12 @@ if __name__ == "__main__":
 	max_action = float(env.action_space.high[0])
 	agent = TD3(state_dim,action_dim,max_action,cfg)
 	rewards,ma_rewards = train(cfg,env,agent)
-	make_dir(cfg.result_path)
-	agent.save(path=cfg.result_path)
+	make_dir(cfg.result_path,cfg.model_path)
+	agent.save(path=cfg.model_path)
 	save_results(rewards,ma_rewards,tag='train',path=cfg.result_path)
 	plot_rewards(rewards,ma_rewards,tag="train",env=cfg.env,algo = cfg.algo,path=cfg.result_path)
+	# cfg.result_path = './TD3/results/HalfCheetah-v2/20210416-130341/'
+	# agent.load(cfg.result_path)
+	# eval(cfg.env,agent, cfg.seed)
 	
 		

codes/TD3/task1_eval.py

@@ -0,0 +1,83 @@
+#!/usr/bin/env python
+# coding=utf-8
+'''
+Author: JiangJi
+Email: johnjim0816@gmail.com
+Date: 2021-04-23 20:36:23
+LastEditor: JiangJi
+LastEditTime: 2021-04-28 10:14:33
+Discription: 
+Environment: 
+'''
+import sys,os
+curr_path = os.path.dirname(__file__)
+parent_path=os.path.dirname(curr_path) 
+sys.path.append(parent_path) # add current terminal path to sys.path
+
+import torch
+import gym
+import numpy as np
+import datetime
+
+
+from TD3.agent import TD3
+from common.plot import plot_rewards
+from common.utils import save_results,make_dir
+
+curr_time = datetime.datetime.now().strftime("%Y%m%d-%H%M%S") # obtain current time
+
+class TD3Config:
+	def __init__(self) -> None:
+		self.algo = 'TD3'
+		self.env = 'Pendulum-v0'
+		self.seed = 0
+		self.result_path = curr_path+"/results/" +self.env+'/'+curr_time+'/results/'  # path to save results
+		self.model_path = curr_path+"/results/" +self.env+'/'+curr_time+'/models/'  # path to save models
+		self.batch_size = 256 # Batch size for both actor and critic
+		self.gamma = 0.99 # gamma factor
+		self.lr = 0.0005 # Target network update rate 
+		self.policy_noise = 0.2 # Noise added to target policy during critic update
+		self.noise_clip = 0.5  # Range to clip target policy noise
+		self.policy_freq = 2 # Frequency of delayed policy updates
+		self.device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
+		
+# Runs policy for X episodes and returns average reward
+# A fixed seed is used for the eval environment
+def eval(env_name,agent, seed, eval_episodes=50):
+	eval_env = gym.make(env_name)
+	eval_env.seed(seed + 100)
+	rewards,ma_rewards =[],[]
+	for i_episode in range(eval_episodes):
+		ep_reward = 0
+		state, done = eval_env.reset(), False
+		while not done:
+			# eval_env.render()
+			action = agent.choose_action(np.array(state))
+			state, reward, done, _ = eval_env.step(action)
+			ep_reward += reward
+		print(f"Episode:{i_episode+1}, Reward:{ep_reward:.3f}")
+		rewards.append(ep_reward)
+		# 计算滑动窗口的reward
+		if ma_rewards:
+			ma_rewards.append(0.9*ma_rewards[-1]+0.1*ep_reward)
+		else:
+			ma_rewards.append(ep_reward) 
+	return rewards,ma_rewards
+
+if __name__ == "__main__":
+	cfg  = TD3Config()
+	env = gym.make(cfg.env)
+	env.seed(cfg.seed) # Set seeds
+	torch.manual_seed(cfg.seed)
+	np.random.seed(cfg.seed)
+	state_dim = env.observation_space.shape[0]
+	action_dim = env.action_space.shape[0] 
+	max_action = float(env.action_space.high[0])
+	td3= TD3(state_dim,action_dim,max_action,cfg)
+	cfg.model_path = './TD3/results/Pendulum-v0/20210428-092059/models/'
+	cfg.result_path = './TD3/results/Pendulum-v0/20210428-092059/results/'
+	td3.load(cfg.model_path)
+	rewards,ma_rewards = eval(cfg.env,td3,cfg.seed)
+	make_dir(cfg.result_path,cfg.model_path)
+	save_results(rewards,ma_rewards,tag='eval',path=cfg.result_path)
+	plot_rewards(rewards,ma_rewards,tag="train",env=cfg.env,algo = cfg.algo,path=cfg.result_path)

codes/TD3/task1_train.py

@@ -0,0 +1,112 @@
+import sys,os
+curr_path = os.path.dirname(__file__)
+parent_path=os.path.dirname(curr_path) 
+sys.path.append(parent_path) # add current terminal path to sys.path
+
+import torch
+import gym
+import numpy as np
+import datetime
+
+
+from TD3.agent import TD3
+from common.plot import plot_rewards
+from common.utils import save_results,make_dir
+
+curr_time = datetime.datetime.now().strftime("%Y%m%d-%H%M%S") # obtain current time
+	
+
+class TD3Config:
+	def __init__(self) -> None:
+		self.algo = 'TD3'
+		self.env = 'Pendulum-v0'
+		self.seed = 0
+		self.result_path = curr_path+"/results/" +self.env+'/'+curr_time+'/results/'  # path to save results
+		self.model_path = curr_path+"/results/" +self.env+'/'+curr_time+'/models/'  # path to save models
+		self.start_timestep = 25e3 # Time steps initial random policy is used
+		self.start_ep = 50 # Episodes initial random policy is used
+		self.eval_freq = 10 # How often (episodes) we evaluate
+		self.train_eps = 600
+		self.max_timestep = 100000 # Max time steps to run environment
+		self.expl_noise = 0.1 # Std of Gaussian exploration noise
+		self.batch_size = 256 # Batch size for both actor and critic
+		self.gamma = 0.9 # gamma factor
+		self.lr = 0.0005 # Target network update rate 
+		self.policy_noise = 0.2 # Noise added to target policy during critic update
+		self.noise_clip = 0.3  # Range to clip target policy noise
+		self.policy_freq = 2 # Frequency of delayed policy updates
+		self.device = torch.device("cuda" if torch.cuda.is_available() else "cpu")
+
+# Runs policy for X episodes and returns average reward
+# A fixed seed is used for the eval environment
+def eval(env,agent, seed, eval_episodes=10):
+	eval_env = gym.make(env)
+	eval_env.seed(seed + 100)
+	avg_reward = 0.
+	for _ in range(eval_episodes):
+		state, done = eval_env.reset(), False
+		while not done:
+			# eval_env.render()
+			action = agent.choose_action(np.array(state))
+			state, reward, done, _ = eval_env.step(action)
+			avg_reward += reward
+	avg_reward /= eval_episodes
+	print("---------------------------------------")
+	print(f"Evaluation over {eval_episodes} episodes: {avg_reward:.3f}")
+	print("---------------------------------------")
+	return avg_reward
+
+def train(cfg,env,agent):
+	rewards = []
+	ma_rewards = [] # moveing average reward
+	for i_ep in range(int(cfg.train_eps)):
+		ep_reward = 0
+		ep_timesteps = 0
+		state, done = env.reset(), False
+		while not done:
+			ep_timesteps += 1
+			# Select action randomly or according to policy
+			if i_ep < cfg.start_ep:
+				action = env.action_space.sample()
+			else:
+				action = (
+					agent.choose_action(np.array(state))
+					+ np.random.normal(0, max_action * cfg.expl_noise, size=action_dim)
+				).clip(-max_action, max_action)
+			# Perform action
+			next_state, reward, done, _ = env.step(action) 
+			done_bool = float(done) if ep_timesteps < env._max_episode_steps else 0
+			# Store data in replay buffer
+			agent.memory.push(state, action, next_state, reward, done_bool)
+			state = next_state
+			ep_reward += reward
+			# Train agent after collecting sufficient data
+			if i_ep+1 >= cfg.start_ep:
+				agent.update()
+		print(f"Episode:{i_ep+1}/{cfg.train_eps}, Step:{ep_timesteps}, Reward:{ep_reward:.3f}")
+		rewards.append(ep_reward)
+		# 计算滑动窗口的reward
+		if ma_rewards:
+			ma_rewards.append(0.9*ma_rewards[-1]+0.1*ep_reward)
+		else:
+			ma_rewards.append(ep_reward) 	
+	return rewards, ma_rewards
+
+
+if __name__ == "__main__":
+	cfg  = TD3Config()
+	env = gym.make(cfg.env)
+	env.seed(cfg.seed) # Set seeds
+	torch.manual_seed(cfg.seed)
+	np.random.seed(cfg.seed)
+	state_dim = env.observation_space.shape[0]
+	action_dim = env.action_space.shape[0] 
+	max_action = float(env.action_space.high[0])
+	agent = TD3(state_dim,action_dim,max_action,cfg)
+	rewards,ma_rewards = train(cfg,env,agent)
+	make_dir(cfg.result_path,cfg.model_path)
+	agent.save(path=cfg.model_path)
+	save_results(rewards,ma_rewards,tag='train',path=cfg.result_path)
+	plot_rewards(rewards,ma_rewards,tag="train",env=cfg.env,algo = cfg.algo,path=cfg.result_path)
+
+