my update
This commit is contained in:
romue
parent
6287380f60
commit
ea4582a59e
@ -1,40 +0,0 @@
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from common import BaseLearner, TrajectoryBuffer
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class AWRLearner(BaseLearner):
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def __init__(self, *args, buffer_size=1e5, **kwargs):
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super(AWRLearner, self).__init__(*args, **kwargs)
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assert self.train_every[0] == 'episode', 'AWR only supports the episodic RL setting!'
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self.buffer = TrajectoryBuffer(buffer_size)
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def train(self):
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# convert to trajectory format
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pass
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import numpy as np
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from matplotlib import pyplot as plt
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import pandas as pd
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import seaborn as sns
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sns.set(font_scale=1.25, rc={'text.usetex': True})
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data = np.array([[689, 74], [71, 647]])
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cats = ['Mask', 'No Mask']
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df = pd.DataFrame(data/np.sum(data), index=cats, columns=cats)
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group_counts = ['{0:0.0f}'.format(value) for value in
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data.flatten()]
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group_percentages = [f'{value*100:.2f}' + r'$\%$' for value in
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data.flatten()/np.sum(data)]
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labels = [f'{v1}\n{v2}' for v1, v2 in
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zip(group_counts,group_percentages)]
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labels = np.asarray(labels).reshape(2,2)
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with sns.axes_style("white"):
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cmap = sns.diverging_palette(h_neg=100, h_pos=10, s=99, l=55, sep=3, as_cmap=True)
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sns.heatmap(data, annot=labels, fmt='', cmap='Set2_r', square=True, cbar=False, xticklabels=cats,yticklabels=cats)
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plt.title('Simple-CNN')
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plt.ylabel('True label')
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plt.xlabel('Predicted label')
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plt.tight_layout()
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plt.savefig('cnn.pdf', bbox_inches='tight')
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@ -2,9 +2,12 @@ from typing import NamedTuple, Union
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from collections import deque, OrderedDict, defaultdict
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import numpy as np
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import random
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import pandas as pd
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import torch
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import torch.nn as nn
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from tqdm import trange
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class Experience(NamedTuple):
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# can be use for a single (s_t, a, r s_{t+1}) tuple
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@ -57,6 +60,9 @@ class BaseLearner:
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def train(self):
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pass
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def reward(self, r):
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return r
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def learn(self, n_steps):
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train_type, train_freq = self.train_every
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while self.step < n_steps:
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@ -70,7 +76,7 @@ class BaseLearner:
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next_obs, reward, done, info = self.env.step(action if not len(action) == 1 else action[0])
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experience = Experience(observation=obs, next_observation=next_obs,
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action=action, reward=reward,
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action=action, reward=self.reward(reward),
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done=done, episode=self.episode) # do we really need to copy?
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self.on_new_experience(experience)
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# end of step routine
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@ -90,7 +96,7 @@ class BaseLearner:
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self.running_reward.append(total_reward)
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self.episode += 1
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try:
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if self.step % 10 == 0:
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if self.step % 100 == 0:
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print(
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f'Step: {self.step} ({(self.step / n_steps) * 100:.2f}%)\tRunning reward: {sum(list(self.running_reward)) / len(self.running_reward):.2f}\t'
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f' eps: {self.eps:.4f}\tRunning loss: {sum(list(self.running_loss)) / len(self.running_loss):.4f}\tUpdates:{self.n_updates}')
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@ -98,6 +104,21 @@ class BaseLearner:
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pass
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self.on_all_done()
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def evaluate(self, n_episodes=100, render=False):
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with torch.no_grad():
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data = []
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for eval_i in trange(n_episodes):
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obs, done = self.env.reset(), False
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while not done:
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action = self.get_action(obs)
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next_obs, reward, done, info = self.env.step(action if not len(action) == 1 else action[0])
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if render: self.env.render()
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obs = next_obs # srsly i'm so stupid
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info.update({'reward': reward, 'eval_episode': eval_i})
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data.append(info)
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return pd.DataFrame(data).fillna(0)
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class BaseBuffer:
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def __init__(self, size: int):
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@ -187,7 +208,7 @@ class BaseDDQN(BaseDQN):
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class BaseICM(nn.Module):
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def __init__(self, backbone_dims=[2*3*5*5, 64, 64], head_dims=[2*64, 64, 9]):
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super(BaseICM, self).__init__()
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self.backbone = mlp_maker(backbone_dims, flatten=True)
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self.backbone = mlp_maker(backbone_dims, flatten=True, activation_last='relu', activation='relu')
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self.icm = mlp_maker(head_dims)
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self.ce = nn.CrossEntropyLoss()
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@ -1,3 +1,4 @@
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import numpy as np
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import torch
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import torch.nn.functional as F
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from algorithms.q_learner import QLearner
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@ -53,19 +54,24 @@ class MQLearner(QLearner):
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self._backprop_loss(loss)
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from tqdm import trange
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from collections import deque
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class MQICMLearner(MQLearner):
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def __init__(self, *args, icm, **kwargs):
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super(MQICMLearner, self).__init__(*args, **kwargs)
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self.icm = icm
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self.icm_optimizer = torch.optim.Adam(self.icm.parameters())
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self.icm_optimizer = torch.optim.AdamW(self.icm.parameters())
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self.normalize_reward = deque(maxlen=1000)
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def on_all_done(self):
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for b in trange(50000):
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from collections import deque
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losses = deque(maxlen=100)
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for b in trange(10000):
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batch = self.buffer.sample(128, 0)
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s0, s1, a = batch.observation, batch.next_observation, batch.action
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loss = self.icm(s0, s1, a.squeeze())['loss']
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self.icm_optimizer.zero_grad()
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loss.backward()
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self.icm_optimizer.step()
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losses.append(loss.item())
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if b%100 == 0:
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print(loss.item())
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print(np.mean(losses))
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@ -1,6 +1,7 @@
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from typing import Union
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import torch
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import numpy as np
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import pandas as pd
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from algorithms.q_learner import QLearner
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@ -38,3 +39,17 @@ class VDNLearner(QLearner):
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target_q = experience.reward + (1 - experience.done) * self.gamma * target_q_raw
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loss = torch.mean(self.reg_weight * pred_q + torch.pow(pred_q - target_q, 2))
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self._backprop_loss(loss)
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def evaluate(self, n_episodes=100, render=False):
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with torch.no_grad():
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data = []
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for eval_i in range(n_episodes):
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obs, done = self.env.reset(), False
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while not done:
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action = self.get_action(obs)
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next_obs, reward, done, info = self.env.step(action)
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if render: self.env.render()
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obs = next_obs # srsly i'm so stupid
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info.update({'reward': reward, 'eval_episode': eval_i})
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data.append(info)
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return pd.DataFrame(data).fillna(0)
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@ -0,0 +1,27 @@
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def rooms(n_agents=1):
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from environments.factory.factory_dirt_item import DirtItemFactory
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from environments.factory.factory_item import ItemFactory, ItemProperties
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from environments.factory.factory_dirt import DirtProperties, DirtFactory
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from environments.utility_classes import MovementProperties, ObservationProperties, AgentRenderOptions
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obs_props = ObservationProperties(render_agents=AgentRenderOptions.NOT,
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omit_agent_self=True,
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additional_agent_placeholder=None,
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frames_to_stack=0,
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pomdp_r=2
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)
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move_props = MovementProperties(allow_diagonal_movement=True,
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allow_square_movement=True,
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allow_no_op=False)
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dirt_props = DirtProperties(initial_dirt_ratio=0.35, initial_dirt_spawn_r_var=0.1,
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clean_amount=0.34,
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max_spawn_amount=0.1, max_global_amount=20,
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max_local_amount=1, spawn_frequency=0, max_spawn_ratio=0.05,
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dirt_smear_amount=0.0, agent_can_interact=True)
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factory_kwargs = dict(n_agents=n_agents, max_steps=400, parse_doors=True,
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level_name='rooms', record_episodes=False, doors_have_area=False,
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verbose=False,
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mv_prop=move_props,
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obs_prop=obs_props
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)
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return DirtFactory(dirt_props=dirt_props, **factory_kwargs)
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@ -1,57 +1,7 @@
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import random
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from pathlib import Path
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from environments.factory.factory_dirt import DirtFactory, DirtProperties
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from environments.factory.factory_item import ItemFactory, ItemProperties
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from environments.logging.recorder import RecorderCallback
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from environments.utility_classes import MovementProperties
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from environments.factory.factory_dirt import DirtFactory
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from environments.factory.factory_item import ItemFactory
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class DirtItemFactory(ItemFactory, DirtFactory):
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def __init__(self, *args, **kwargs):
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super().__init__(*args, **kwargs)
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if __name__ == '__main__':
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with RecorderCallback(filepath=Path('debug_out') / f'recorder_xxxx.json', occupation_map=False,
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trajectory_map=False) as recorder:
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dirt_props = DirtProperties(clean_amount=2, gain_amount=0.1, max_global_amount=20,
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max_local_amount=1, spawn_frequency=3, max_spawn_ratio=0.05,
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dirt_smear_amount=0.0, agent_can_interact=True)
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item_props = ItemProperties(n_items=5, agent_can_interact=True)
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move_props = MovementProperties(allow_diagonal_movement=True,
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allow_square_movement=True,
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allow_no_op=False)
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render = True
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factory = DirtItemFactory(n_agents=1, done_at_collision=False, frames_to_stack=0,
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level_name='rooms', max_steps=200, combin_agent_obs=True,
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omit_agent_in_obs=True, parse_doors=True, pomdp_r=3,
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record_episodes=True, verbose=False, cast_shadows=True,
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movement_properties=move_props, dirt_properties=dirt_props
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)
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# noinspection DuplicatedCode
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n_actions = factory.action_space.n - 1
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_ = factory.observation_space
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for epoch in range(4):
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random_actions = [[random.randint(0, n_actions) for _
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in range(factory.n_agents)] for _
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in range(factory.max_steps + 1)]
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env_state = factory.reset()
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r = 0
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for agent_i_action in random_actions:
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env_state, step_r, done_bool, info_obj = factory.step(agent_i_action)
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# recorder.read_info(0, info_obj)
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r += step_r
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if render:
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factory.render()
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if done_bool:
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# recorder.read_done(0, done_bool)
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break
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print(f'Factory run {epoch} done, reward is:\n {r}')
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pass
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@ -126,6 +126,6 @@ class Renderer:
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if __name__ == '__main__':
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renderer = Renderer(fps=2, cell_size=40)
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for i in range(15):
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entity_1 = RenderEntity('agent', [5, i], 1, 'idle', 'idle')
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entity_1 = RenderEntity('agent_collision', [5, i], 1, 'idle', 'idle')
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renderer.render([entity_1])
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115
main.py
115
main.py
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import warnings
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from pathlib import Path
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import time
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from stable_baselines3.common.callbacks import CallbackList
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from stable_baselines3.common.vec_env import SubprocVecEnv
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from environments.factory.factory_dirt_item import DirtItemFactory
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from environments.factory.factory_item import ItemFactory, ItemProperties
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from environments.factory.factory_dirt import DirtProperties, DirtFactory
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from environments.logging.monitor import MonitorCallback
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from environments.logging.recorder import RecorderCallback
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from environments.utility_classes import MovementProperties
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from plotting.compare_runs import compare_seed_runs, compare_model_runs
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warnings.filterwarnings('ignore', category=FutureWarning)
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warnings.filterwarnings('ignore', category=UserWarning)
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def make_env(env_kwargs_dict):
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def _init():
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with DirtFactory(**env_kwargs_dict) as init_env:
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return init_env
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return _init
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if __name__ == '__main__':
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# combine_runs(Path('debug_out') / 'A2C_1630314192')
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# exit()
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# compare_runs(Path('debug_out'), 1623052687, ['step_reward'])
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# exit()
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from stable_baselines3 import PPO, DQN, A2C
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# from algorithms.reg_dqn import RegDQN
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# from sb3_contrib import QRDQN
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dirt_props = DirtProperties(clean_amount=2, gain_amount=0.1, max_global_amount=20,
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max_local_amount=1, spawn_frequency=16, max_spawn_ratio=0.05,
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dirt_smear_amount=0.0, agent_can_interact=True)
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item_props = ItemProperties(n_items=10, agent_can_interact=True,
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spawn_frequency=30, n_drop_off_locations=2,
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max_agent_inventory_capacity=15)
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move_props = MovementProperties(allow_diagonal_movement=True,
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allow_square_movement=True,
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allow_no_op=False)
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train_steps = 5e6
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time_stamp = int(time.time())
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out_path = None
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for modeL_type in [A2C, PPO, DQN]: # ,RegDQN, QRDQN]:
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for seed in range(3):
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env_kwargs = dict(n_agents=1,
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# item_prop=item_props,
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dirt_properties=dirt_props,
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movement_properties=move_props,
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pomdp_r=2, max_steps=1000, parse_doors=False,
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level_name='rooms', frames_to_stack=4,
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omit_agent_in_obs=True, combin_agent_obs=True, record_episodes=False,
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cast_shadows=True, doors_have_area=False, env_seed=seed, verbose=False,
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)
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if modeL_type.__name__ in ["PPO", "A2C"]:
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kwargs = dict(ent_coef=0.01)
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env = SubprocVecEnv([make_env(env_kwargs) for _ in range(10)], start_method="spawn")
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elif modeL_type.__name__ in ["RegDQN", "DQN", "QRDQN"]:
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env = make_env(env_kwargs)()
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kwargs = dict(buffer_size=50000,
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learning_starts=64,
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batch_size=64,
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target_update_interval=5000,
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exploration_fraction=0.25,
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exploration_final_eps=0.025
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)
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else:
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raise NameError(f'The model "{modeL_type.__name__}" has the wrong name.')
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model = modeL_type("MlpPolicy", env, verbose=1, seed=seed, device='cpu', **kwargs)
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out_path = Path('debug_out') / f'{model.__class__.__name__}_{time_stamp}'
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# identifier = f'{seed}_{model.__class__.__name__}_{time_stamp}'
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identifier = f'{seed}_{model.__class__.__name__}_{time_stamp}'
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out_path /= identifier
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callbacks = CallbackList(
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[MonitorCallback(filepath=out_path / f'monitor_{identifier}.pick'),
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RecorderCallback(filepath=out_path / f'recorder_{identifier}.json', occupation_map=False,
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trajectory_map=False
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)]
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)
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model.learn(total_timesteps=int(train_steps), callback=callbacks)
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save_path = out_path / f'model_{identifier}.zip'
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save_path.parent.mkdir(parents=True, exist_ok=True)
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model.save(save_path)
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param_path = out_path.parent / f'env_{model.__class__.__name__}_{time_stamp}.json'
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try:
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env.env_method('save_params', param_path)
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except AttributeError:
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env.save_params(param_path)
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print("Model Trained and saved")
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print("Model Group Done.. Plotting...")
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if out_path:
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compare_seed_runs(out_path.parent)
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print("All Models Done... Evaluating")
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if out_path:
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compare_model_runs(Path('debug_out'), time_stamp, 'step_reward')
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86
main_test.py
86
main_test.py
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# foreign imports
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import warnings
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from pathlib import Path
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import yaml
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from gym.wrappers import FrameStack
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from natsort import natsorted
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from stable_baselines3.common.callbacks import CallbackList
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from stable_baselines3 import PPO, DQN, A2C
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# our imports
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from environments.factory.factory_dirt import DirtFactory, DirtProperties
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from environments.logging.monitor import MonitorCallback
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from algorithms.reg_dqn import RegDQN
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from main import compare_model_runs, compare_seed_runs
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warnings.filterwarnings('ignore', category=FutureWarning)
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warnings.filterwarnings('ignore', category=UserWarning)
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model_mapping = dict(A2C=A2C, PPO=PPO, DQN=DQN, RegDQN=RegDQN)
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if __name__ == '__main__':
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# get n policies pi_1, ..., pi_n trained in single agent setting
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# rewards = []
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# repeat for x eval runs
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# total reward = rollout game for y steps with n policies in multi-agent setting
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# rewards += [total reward]
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# boxplot total rewards
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run_id = '1623923982'
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model_name = 'A2C'
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# -----------------------
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out_path = Path(__file__).parent / 'debug_out'
|
||||
|
||||
# from sb3_contrib import QRDQN
|
||||
model_path = out_path / f'{model_name}_{run_id}'
|
||||
model_files = list(natsorted(model_path.rglob('model_*.zip')))
|
||||
this_model = model_files[0]
|
||||
render = True
|
||||
|
||||
model = model_mapping[model_name].load(this_model)
|
||||
|
||||
for seed in range(3):
|
||||
with (model_path / f'env_{model_path.name}.yaml').open('r') as f:
|
||||
env_kwargs = yaml.load(f, Loader=yaml.FullLoader)
|
||||
dirt_props = DirtProperties(clean_amount=3, gain_amount=0.2, max_global_amount=30,
|
||||
max_local_amount=3, spawn_frequency=1, max_spawn_ratio=0.05)
|
||||
# env_kwargs.update(n_agents=1, dirt_prop=dirt_props)
|
||||
env = DirtFactory(**env_kwargs)
|
||||
|
||||
env = FrameStack(env, 4)
|
||||
|
||||
exp_out_path = model_path / 'exp'
|
||||
callbacks = CallbackList(
|
||||
[MonitorCallback(filepath=exp_out_path / f'future_exp_name')]
|
||||
)
|
||||
|
||||
n_actions = env.action_space.n
|
||||
|
||||
for epoch in range(100):
|
||||
observations = env.reset()
|
||||
if render:
|
||||
if isinstance(env, FrameStack):
|
||||
env.env.render()
|
||||
else:
|
||||
env.render()
|
||||
done_bool = False
|
||||
r = 0
|
||||
while not done_bool:
|
||||
if env.n_agents > 1:
|
||||
actions = [model.predict(obs, deterministic=False)[0] for obs in observations]
|
||||
else:
|
||||
actions = model.predict(observations, deterministic=False)[0]
|
||||
|
||||
observations, r, done_bool, info_obj = env.step(actions)
|
||||
if render:
|
||||
env.render()
|
||||
if done_bool:
|
||||
break
|
||||
print(f'Factory run {epoch} done, reward is:\n {r}')
|
||||
|
||||
if out_path:
|
||||
compare_seed_runs(out_path.parent)
|
||||
@ -1,9 +1,11 @@
|
||||
import numpy as np
|
||||
from environments.factory import rooms
|
||||
import random
|
||||
from gym.wrappers import FrameStack
|
||||
|
||||
env = rooms(n_agents=2)
|
||||
env = FrameStack(env, num_stack=3)
|
||||
state, *_ = env.reset()
|
||||
|
||||
class SatMad(object):
|
||||
def __init__(self):
|
||||
pass
|
||||
|
||||
if __name__ == '__main__':
|
||||
pass
|
||||
for i in range(1000):
|
||||
state, *_ = env.step([random.randint(0, 9), random.randint(0, 9)])
|
||||
env.render()
|
||||
Loading…
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Reference in New Issue
Block a user