197 lines
6.5 KiB
Plaintext
197 lines
6.5 KiB
Plaintext
{
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"metadata": {
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"language_info": {
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"codemirror_mode": {
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"name": "ipython",
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"version": 3
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},
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"file_extension": ".py",
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"mimetype": "text/x-python",
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"name": "python",
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"nbconvert_exporter": "python",
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"pygments_lexer": "ipython3",
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"version": "3.7.10"
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},
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"orig_nbformat": 2,
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"kernelspec": {
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"name": "python3710jvsc74a57bd0fd81e6a9e450d5c245c1a0b5da0b03c89c450f614a13afa2acb1654375922756",
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"display_name": "Python 3.7.10 64-bit ('mujoco': conda)"
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},
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"metadata": {
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"interpreter": {
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"hash": "fd81e6a9e450d5c245c1a0b5da0b03c89c450f614a13afa2acb1654375922756"
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}
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}
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},
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"nbformat": 4,
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"nbformat_minor": 2,
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"cells": [
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{
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"cell_type": "code",
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"execution_count": 1,
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"metadata": {},
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"outputs": [],
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"source": [
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"import sys\n",
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"from pathlib import Path\n",
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"curr_path = str(Path().absolute())\n",
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"parent_path = str(Path().absolute().parent)\n",
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"sys.path.append(parent_path) # add current terminal path to sys.path"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 2,
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"metadata": {},
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"outputs": [],
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"source": [
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"import gym\n",
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"import torch\n",
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"import datetime\n",
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"\n",
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"from SAC.env import NormalizedActions\n",
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"from SAC.agent import SAC\n",
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"from common.utils import save_results, make_dir\n",
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"from common.plot import plot_rewards\n",
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"\n",
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"curr_time = datetime.datetime.now().strftime(\"%Y%m%d-%H%M%S\") # obtain current time"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 3,
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"metadata": {},
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"outputs": [],
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"source": [
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"class SACConfig:\n",
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" def __init__(self) -> None:\n",
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" self.algo = 'SAC'\n",
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" self.env = 'Pendulum-v0'\n",
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" self.result_path = curr_path+\"/outputs/\" +self.env+'/'+curr_time+'/results/' # path to save results\n",
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" self.model_path = curr_path+\"/outputs/\" +self.env+'/'+curr_time+'/models/' # path to save models\n",
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" self.train_eps = 300\n",
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" self.train_steps = 500\n",
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" self.eval_eps = 50\n",
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" self.eval_steps = 500\n",
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" self.gamma = 0.99\n",
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" self.mean_lambda=1e-3\n",
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" self.std_lambda=1e-3\n",
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" self.z_lambda=0.0\n",
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" self.soft_tau=1e-2\n",
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" self.value_lr = 3e-4\n",
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" self.soft_q_lr = 3e-4\n",
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" self.policy_lr = 3e-4\n",
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" self.capacity = 1000000\n",
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" self.hidden_dim = 256\n",
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" self.batch_size = 128\n",
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" self.device=torch.device(\"cuda\" if torch.cuda.is_available() else \"cpu\")"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 4,
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"metadata": {},
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"outputs": [],
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"source": [
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"def env_agent_config(cfg,seed=1):\n",
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" env = NormalizedActions(gym.make(\"Pendulum-v0\"))\n",
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" env.seed(seed)\n",
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" action_dim = env.action_space.shape[0]\n",
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" state_dim = env.observation_space.shape[0]\n",
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" agent = SAC(state_dim,action_dim,cfg)\n",
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" return env,agent"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 5,
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"metadata": {},
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"outputs": [],
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"source": [
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"def train(cfg,env,agent):\n",
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" print('Start to train !')\n",
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" print(f'Env: {cfg.env}, Algorithm: {cfg.algo}, Device: {cfg.device}')\n",
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" rewards = []\n",
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" ma_rewards = [] # moveing average reward\n",
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" for i_ep in range(cfg.train_eps):\n",
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" state = env.reset()\n",
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" ep_reward = 0\n",
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" for i_step in range(cfg.train_steps):\n",
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" action = agent.policy_net.get_action(state)\n",
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" next_state, reward, done, _ = env.step(action)\n",
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" agent.memory.push(state, action, reward, next_state, done)\n",
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" agent.update()\n",
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" state = next_state\n",
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" ep_reward += reward\n",
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" if done:\n",
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" break\n",
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" if (i_ep+1)%10==0:\n",
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" print(f\"Episode:{i_ep+1}/{cfg.train_eps}, Reward:{ep_reward:.3f}\")\n",
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" rewards.append(ep_reward)\n",
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" if ma_rewards:\n",
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" ma_rewards.append(0.9*ma_rewards[-1]+0.1*ep_reward)\n",
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" else:\n",
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" ma_rewards.append(ep_reward) \n",
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" print('Complete training！')\n",
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" return rewards, ma_rewards"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 6,
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"metadata": {},
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"outputs": [],
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"source": [
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"def eval(cfg,env,agent):\n",
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" print('Start to eval !')\n",
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" print(f'Env: {cfg.env}, Algorithm: {cfg.algo}, Device: {cfg.device}')\n",
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" rewards = []\n",
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" ma_rewards = [] # moveing average reward\n",
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" for i_ep in range(cfg.eval_eps):\n",
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" state = env.reset()\n",
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" ep_reward = 0\n",
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" for i_step in range(cfg.eval_steps):\n",
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" action = agent.policy_net.get_action(state)\n",
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" next_state, reward, done, _ = env.step(action)\n",
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" state = next_state\n",
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" ep_reward += reward\n",
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" if done:\n",
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" break\n",
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" if (i_ep+1)%10==0:\n",
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" print(f\"Episode:{i_ep+1}/{cfg.train_eps}, Reward:{ep_reward:.3f}\")\n",
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" rewards.append(ep_reward)\n",
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" if ma_rewards:\n",
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" ma_rewards.append(0.9*ma_rewards[-1]+0.1*ep_reward)\n",
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" else:\n",
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" ma_rewards.append(ep_reward) \n",
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" print('Complete evaling！')\n",
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" return rewards, ma_rewards\n"
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]
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},
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{
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"cell_type": "code",
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"execution_count": null,
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"metadata": {},
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"outputs": [],
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"source": [
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"if __name__ == \"__main__\":\n",
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" cfg=SACConfig()\n",
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" \n",
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" # train\n",
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" env,agent = env_agent_config(cfg,seed=1)\n",
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" rewards, ma_rewards = train(cfg, env, agent)\n",
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" make_dir(cfg.result_path, cfg.model_path)\n",
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" agent.save(path=cfg.model_path)\n",
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" save_results(rewards, ma_rewards, tag='train', path=cfg.result_path)\n",
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" plot_rewards(rewards, ma_rewards, tag=\"train\",\n",
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" algo=cfg.algo, path=cfg.result_path)\n",
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" # eval\n",
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" env,agent = env_agent_config(cfg,seed=10)\n",
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" agent.load(path=cfg.model_path)\n",
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" rewards,ma_rewards = eval(cfg,env,agent)\n",
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" save_results(rewards,ma_rewards,tag='eval',path=cfg.result_path)\n",
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" plot_rewards(rewards,ma_rewards,tag=\"eval\",env=cfg.env,algo = cfg.algo,path=cfg.result_path)\n"
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]
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}
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]
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} |