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minor update to SAC: support DM_control training
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| import os | ||
| from pathlib import Path | ||
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| import gym | ||
| from gym.wrappers import FlattenDictWrapper | ||
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| from dm_control import suite | ||
| from dm2gym import DMControlEnv | ||
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| from lagom.utils import pickle_dump | ||
| from lagom.utils import set_global_seeds | ||
| from lagom.experiment import Config | ||
| from lagom.experiment import Grid | ||
| from lagom.experiment import Sample | ||
| from lagom.experiment import Condition | ||
| from lagom.experiment import run_experiment | ||
| from lagom.envs import make_vec_env | ||
| from lagom.envs.wrappers import TimeLimit | ||
| from lagom.envs.wrappers import NormalizeAction | ||
| from lagom.envs.wrappers import VecMonitor | ||
| from lagom.envs.wrappers import VecStepInfo | ||
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| from baselines.sac.agent import Agent | ||
| from baselines.sac.engine import Engine | ||
| from baselines.sac.replay_buffer import ReplayBuffer | ||
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| config = Config( | ||
| {'log.freq': 1000, # every n timesteps | ||
| 'checkpoint.num': 3, | ||
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| 'env.id': Grid([('cheetah', 'run'), ('hopper', 'hop'), ('walker', 'run'), ('fish', 'upright')]), | ||
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| 'agent.gamma': 0.99, | ||
| 'agent.polyak': 0.995, # polyak averaging coefficient for targets update | ||
| 'agent.actor.lr': 3e-4, | ||
| 'agent.actor.use_lr_scheduler': False, | ||
| 'agent.critic.lr': 3e-4, | ||
| 'agent.critic.use_lr_scheduler': False, | ||
| 'agent.initial_temperature': 1.0, | ||
| 'agent.max_grad_norm': 999999, # grad clipping by norm | ||
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| 'replay.capacity': 1000000, | ||
| # number of time steps to take uniform actions initially | ||
| 'replay.init_size': Condition(lambda x: 1000 if x['env.id'] in ['Hopper-v3', 'Walker2d-v3'] else 10000), | ||
| 'replay.batch_size': 256, | ||
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| 'train.timestep': int(1e6), # total number of training (environmental) timesteps | ||
| 'eval.freq': 5000, | ||
| 'eval.num_episode': 10 | ||
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| }) | ||
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| def make_env(config, seed): | ||
| def _make_env(): | ||
| domain_name, task_name = config['env.id'] | ||
| env = suite.load(domain_name, task_name, environment_kwargs=dict(flat_observation=True)) | ||
| env = DMControlEnv(env) | ||
| env = FlattenDictWrapper(env, ['observations']) | ||
| env = TimeLimit(env, env.spec.max_episode_steps) | ||
| env = NormalizeAction(env) | ||
| return env | ||
| env = make_vec_env(_make_env, 1, seed) # single environment | ||
| return env | ||
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| def run(config, seed, device, logdir): | ||
| set_global_seeds(seed) | ||
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| env = make_env(config, seed) | ||
| env = VecMonitor(env) | ||
| env = VecStepInfo(env) | ||
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| eval_env = make_env(config, seed) | ||
| eval_env = VecMonitor(eval_env) | ||
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| agent = Agent(config, env, device) | ||
| replay = ReplayBuffer(env, config['replay.capacity'], device) | ||
| engine = Engine(config, agent=agent, env=env, eval_env=eval_env, replay=replay, logdir=logdir) | ||
|
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| train_logs, eval_logs = engine.train() | ||
| pickle_dump(obj=train_logs, f=logdir/'train_logs', ext='.pkl') | ||
| pickle_dump(obj=eval_logs, f=logdir/'eval_logs', ext='.pkl') | ||
| return None | ||
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| if __name__ == '__main__': | ||
| run_experiment(run=run, | ||
| config=config, | ||
| seeds=[4153361530, 3503522377, 2876994566, 172236777, 3949341511, 849059707], | ||
| log_dir='logs/default_dm', | ||
| max_workers=os.cpu_count(), | ||
| chunksize=1, | ||
| use_gpu=True, # GPU much faster, note that performance differs between CPU/GPU | ||
| gpu_ids=None) |
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