Implemented multi policy testing
This commit is contained in:
Vasilis Valatsos
parent
4788dd7783
commit
5f0d5484bf
14 changed files with 295 additions and 192 deletions
159
Godot/agent.py
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159
Godot/agent.py
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@ -0,0 +1,159 @@
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import args
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import os
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import pathlib
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import torch as T
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import torch.nn as nn
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from typing import Callable
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from stable_baselines3 import PPO
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from stable_baselines3.common.callbacks import CheckpointCallback
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from stable_baselines3.common.vec_env.vec_monitor import VecMonitor
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from godot_rl.core.utils import can_import
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from godot_rl.wrappers.onnx.stable_baselines_export import export_ppo_model_as_onnx
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from godot_rl.wrappers.stable_baselines_wrapper import StableBaselinesGodotEnv
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def main(policy_name=None, policy=None, parseargs=None):
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if can_import("ray"):
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print("WARNING: SB3 and ray[rllib] are not compatible.")
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args, extras = parseargs
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# args, extras = args.parse_args()
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def handle_onnx_export():
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'''
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Enforces the onnx and zip extentions when saving models.
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This avoids potential conflicts in case of identical names and extentions
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'''
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if args.onnx_export_path is not None:
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path_onnx = pathlib.Path(args.onnx_export_path).with_suffix(".onnx")
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print(f"Exporting onnx to: {os.path.abspath(path_onnx)}")
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export_ppo_model_as_onnx(model, str(path_onnx))
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def handle_model_save():
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if args.save_model_path is not None:
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zip_save_path = pathlib.Path(Args.save_model_path).with_suffix(".zip")
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print(f"Saving model to: {os.path.abspath(zip_save_path)}")
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model.save(zip_save_path)
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def close_env():
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try:
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print("Closing env...")
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env.close()
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except Exception as e:
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print(f"Exception while closing env: {e}")
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if policy_name is None:
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path_checkpoint = os.path.join(args.exper_dir, f"{args.exper_name}_checkpoints")
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else:
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path_checkpoint = os.path.join(args.exper_dir, f"{policy_name}_checkpoints")
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abs_path_checkpoint = os.path.abspath(path_checkpoint)
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if args.save_checkpoint_frequency is not None and os.path.isdir(path_checkpoint):
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raise RuntimeError(
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f"{abs_path_checkpoint} already exists."
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"Use a different directory or different name."
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"If you want to override previous checkpoints you have to delete them manually."
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)
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if args.inference and args.resume_model_path is None:
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raise parser.error(
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"Using --inference requires --resume_model_path to be set."
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)
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if args.env_path is None and args.viz:
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print("Info: using --viz without --env_path set has no effect.")
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print("\nIn editor training will always render.")
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env = StableBaselinesGodotEnv(
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env_path=args.env_path,
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show_window=args.viz,
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seed=args.seed,
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n_parallel=args.n_parallel,
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speedup=args.speedup
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)
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env = VecMonitor(env)
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# LR schedule code snippet from:
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# https://stable-baselines3.readthedocs.io/en/master/guide/examples.html#learning-rate-schedule
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def linear_schedule(initial_value: float) -> Callable[[float], float]:
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"""
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Linear learning rate schedule.
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:param initial_value: Initial learning rate.
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:return: schedule that computes
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current learning rate depending on remaining progress
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"""
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def func(progress_remaining: float) -> float:
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"""
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Progress will decrease from 1 (beginning) to 0.
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:param progress_remaining:
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:return: current learning rate
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"""
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return progress_remaining * initial_value
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return func
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if args.resume_model_path is None:
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if not args.linear_lr_schedule:
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learning_rate = 0.0003
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else:
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linear_schedule(0.0003)
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model: PPO = PPO(
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# 'MultiInputPolicy' serves as an alias for MultiInputActorCriticPolicy
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"MultiInputPolicy",
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env,
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batch_size=64,
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ent_coef=0.01,
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verbose=2,
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n_steps=256,
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tensorboard_log=args.exper_dir,
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learning_rate=learning_rate,
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policy_kwargs=policy,
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)
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else:
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path_zip = pathlib.Path(args.resume_model_path)
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print(f"Loading model: {os.path.abspath(pathzip)}")
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model: PPO = PPO.load(
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path_zip,
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env=env,
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tensorboard_log=args.exper_dir
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)
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if args.inference:
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obs = env.reset()
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for i in range(args.timesteps):
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action, _state = model.predict(obs, deterministic=True)
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obs, reward, done, info = env.step(action)
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else:
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learn_arguments = dict(
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total_timesteps=args.timesteps,
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tb_log_name=policy_name
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)
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if args.save_checkpoint_frequency:
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print("Checkpoint saving enabled.")
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print(f"\nCheckpoints will be saved to {abs_path_checkpoint}")
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checkpoint_callback = CheckpointCallback(
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save_freq=(args.save_checkpoint_frequency // env.num_envs),
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save_path=path_checkpoint,
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name_prefix=policy_name
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)
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learn_arguments["callback"] = checkpoint_callback
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try:
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model.learn(**learn_arguments)
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except KeyboardInterrupt:
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print(
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"""
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Training interrupted by user. Will save if --save_model_path was set and/or export if --onnx_export was set.
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"""
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)
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close_env()
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handle_onnx_export()
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handle_model_save()
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166
Godot/main.py
166
Godot/main.py
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@ -1,164 +1,6 @@
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from policy import policies
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from agent import main
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import args
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import os
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import pathlib
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import torch as T
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import torch.nn as nn
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from typing import Callable
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from stable_baselines3 import PPO
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from stable_baselines3.common.callbacks import CheckpointCallback
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from stable_baselines3.common.vec_env.vec_monitor import VecMonitor
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from godot_rl.core.utils import can_import
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from godot_rl.wrappers.onnx.stable_baselines_export import export_ppo_model_as_onnx
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from godot_rl.wrappers.stable_baselines_wrapper import StableBaselinesGodotEnv
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if can_import("ray"):
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print("WARNING: SB3 and ray[rllib] are not compatible.")
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args, extras = args.parse_args()
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def handle_onnx_export():
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'''
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Enforces the onnx and zip extentions when saving models.
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This avoids potential conflicts in case of identical names and extentions
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'''
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if args.onnx_export_path is not None:
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path_onnx = pathlib.Path(args.onnx_export_path).with_suffix(".onnx")
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print(f"Exporting onnx to: {os.path.abspath(path_onnx)}")
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export_ppo_model_as_onnx(model, str(path_onnx))
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def handle_model_save():
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if args.save_model_path is not None:
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zip_save_path = pathlib.Path(Args.save_model_path).with_suffix(".zip")
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print(f"Saving model to: {os.path.abspath(zip_save_path)}")
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model.save(zip_save_path)
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def close_env():
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try:
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print("Closing env...")
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env.close()
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except Exception as e:
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print(f"Exception while closing env: {e}")
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path_checkpoint = os.path.join(args.exper_dir, f"{args.exper_name}_checkpoints")
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abs_path_checkpoint = os.path.abspath(path_checkpoint)
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if args.save_checkpoint_frequency is not None and os.path.isdir(path_checkpoint):
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raise RuntimeError(
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f"{abs_path_checkpoint} already exists."
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"Use a different directory or different name."
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"If you want to override previous checkpoints you have to delete them manually."
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)
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if args.inference and args.resume_model_path is None:
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raise parser.error(
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"Using --inference requires --resume_model_path to be set."
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)
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if args.env_path is None and args.viz:
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print("Info: using --viz without --env_path set has no effect.")
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print("\nIn editor training will always render.")
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env = StableBaselinesGodotEnv(
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env_path=args.env_path,
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show_window=args.viz,
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seed=args.seed,
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n_parallel=args.n_parallel,
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speedup=args.speedup
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)
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env = VecMonitor(env)
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# LR schedule code snippet from:
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# https://stable-baselines3.readthedocs.io/en/master/guide/examples.html#learning-rate-schedule
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def linear_schedule(initial_value: float) -> Callable[[float], float]:
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"""
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Linear learning rate schedule.
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:param initial_value: Initial learning rate.
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:return: schedule that computes
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current learning rate depending on remaining progress
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"""
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def func(progress_remaining: float) -> float:
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"""
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Progress will decrease from 1 (beginning) to 0.
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:param progress_remaining:
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:return: current learning rate
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"""
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return progress_remaining * initial_value
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return func
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policy_kwargs = dict(
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activation_fn=nn.Tanh,
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net_arch = dict(
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pi=[256],
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vf = [2048, 2048]#, 4096, 4096, 4096, 4096]
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),
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optimizer_class = T.optim.Adam,
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optimizer_kwargs = dict(
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betas=(0.9, 0.9),
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eps=1e-5
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),
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)
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if args.resume_model_path is None:
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if not args.linear_lr_schedule:
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learning_rate = 0.0003
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else:
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linear_schedule(0.0003)
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model: PPO = PPO(
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# 'MultiInputPolicy' serves as an alias for MultiInputActorCriticPolicy
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"MultiInputPolicy",
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env,
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batch_size=64,
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ent_coef=0.01,
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verbose=2,
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n_steps=256,
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tensorboard_log=args.exper_dir,
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learning_rate=learning_rate,
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policy_kwargs=policy_kwargs,
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# optimizer_kwargs=optimizer_kwargs,
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)
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else:
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path_zip = pathlib.Path(args.resume_model_path)
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print(f"Loading model: {os.path.abspath(pathzip)}")
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model: PPO = PPO.load(
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path_zip,
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env=env,
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tensorboard_log=args.exper_dir
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)
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if args.inference:
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obs = env.reset()
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for i in range(args.timesteps):
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action, _state = model.predict(obs, deterministic=True)
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obs, reward, done, info = env.step(action)
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else:
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learn_arguments = dict(total_timesteps=args.timesteps, tb_log_name=args.exper_name)
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if args.save_checkpoint_frequency:
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print("Checkpoint saving enabled.")
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print(f"\nCheckpoints will be saved to {abs_path_checkpoint}")
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checkpoint_callback = CheckpointCallback(
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save_freq=(args.save_checkpoint_frequency // env.num_envs),
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save_path=path_checkpoint,
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name_prefix=args.exper_name
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)
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learn_arguments["callback"] = checkpoint_callback
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try:
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model.learn(**learn_arguments)
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except KeyboardInterrupt:
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print(
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"""
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Training interrupted by user. Will save if --save_model_path was set and/or export if --onnx_export was set.
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"""
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)
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close_env()
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handle_onnx_export()
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handle_model_save()
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for policy_name, policy in policies.items():
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main(policy_name=policy_name, policy=policy, parseargs=args.parse_args())
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153
Godot/policy.py
153
Godot/policy.py
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@ -1,38 +1,131 @@
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from typing import Callable, Dict, List, Optional, Tuple, Type, Union
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import torch as T
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import torch.nn as nn
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from gymnasium import spaces
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import torch as th
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from torch import nn
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policy_small=dict(
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net_arch=dict(
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pi=[256],
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vf=[256]
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)
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)
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from stable_baselines3 import PPO
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from stable_baselines3.common.policies import MultiInputPolicy
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policy_small_optim=dict(
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net_arch=dict(
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pi=[256],
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vf=[256]
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),
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optimizer_kwargs=dict(
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betas=(0.9, 0.9),
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eps=1e-5,
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),
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)
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class CustomACPolicy(nn.Module):
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"""
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Custom network for policy and value functions.
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policy_small_tanh=dict(
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activation_fn=nn.Tanh,
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net_arch=dict(
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pi=[256],
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vf=[256]
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)
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)
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It receives as input the number of layers for each network, the activation function and the optimizer parameters.
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"""
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policy_small_optim_tanh=dict(
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net_arch=dict(
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pi=[256],
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vf=[256]
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),
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optimizer_class=T.optim.Adam,
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optimizer_kwargs=dict(
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betas=(0.9, 0.9),
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eps=1e-5,
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),
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)
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def __init__(
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self,
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feature_dim: int,
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last_layer_dim_pi: int = 64,
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last_layer_dim_vf: int = 64,
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):
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super().__init__()
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policy_mid=dict(
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net_arch=dict(
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pi=[512],
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vf=[2048, 2048]
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)
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)
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self.latent_dim_pi = last_layer_dim_pi
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self.latent_dim_vf = last_layer_dim_vf
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policy_mid_tanh=dict(
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activation_fn=nn.Tanh,
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net_arch=dict(
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pi=[512],
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vf=[2048, 2048]
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)
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)
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# Policy network
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self.policy_net = nn.Sequential(
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nn.Linear(feature_dim, last_layer_dim_pi),
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nn.Tanh()
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)
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policy_mid_optim=dict(
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net_arch=dict(
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pi=[512],
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vf=[2048, 2048]
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),
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optimizer_kwargs=dict(
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betas=(0.9,0.9),
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eps=1e-5
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)
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)
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# Value network
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self.value_net = nn.Sequential(
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nn.Linear(feature_dim, last_layer_dim_vf),
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nn.Tanh()
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)
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policy_mid_optim_tanh=dict(
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activation_fn=nn.Tanh,
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net_arch=dict(
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pi=[512],
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vf=[2048, 2048]
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),
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optimizer_kwargs=dict(
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betas=(0.9,0.9),
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eps=1e-5
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)
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)
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policy_big=dict(
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net_arch=dict(
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pi=[1024, 1024],
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vf=[4096, 4096, 4096, 4096]
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)
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)
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policy_big_tanh=dict(
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activation_fn=nn.Tanh,
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net_arch=dict(
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pi=[1024, 1024],
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vf=[4096, 4096, 4096, 4096]
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)
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)
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policy_big_optim=dict(
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net_arch=dict(
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pi=[1024, 1024],
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vf=[4096, 4096, 4096, 4096]
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),
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optimizer_kwargs=dict(
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betas=(0.9, 0.9),
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eps=1e-5,
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),
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)
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policy_big_optim_tanh = dict(
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activation_fn=nn.Tanh,
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net_arch=dict(
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pi=[1024, 1024],
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vf=[4096, 4096, 4096, 4096],
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),
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optimizer_kwargs=dict(
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betas=(0.9, 0.9),
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eps=1e-5,
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),
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)
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policies={
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"policy_small": policy_small,
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"policy_small_optim": policy_small_optim,
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"policy_small_tanh": policy_small_tanh,
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"policy_small_optim_tanh": policy_small_optim_tanh,
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"policy_mid": policy_mid,
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"policy_mid_optim": policy_mid_optim,
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"policy_mid_tanh": policy_mid_tanh,
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"policy_mid_optim_tanh": policy_mid_optim_tanh,
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"policy_big": policy_big,
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"policy_big_optim": policy_big_optim,
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"policy_big_tanh": policy_big_tanh,
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"policy_big_optim_tanh": policy_big_optim_tanh,
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}
|
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|
|
|
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9
Godot/run_tests.sh
Executable file
9
Godot/run_tests.sh
Executable file
|
|
@ -0,0 +1,9 @@
|
|||
#!/bin/sh
|
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|
||||
python main.py --env_path="/home/valapeos/Projects/thesis/Godot/pneuma.x86_64" --speedup=200 --n_parallel=4 --exper_dir="logs/sb3_full_1" &&
|
||||
|
||||
python main.py --env_path="/home/valapeos/Projects/thesis/Godot/pneuma.x86_64" --speedup=200 --n_parallel=4 --exper_dir="logs/sb3_full_2" &&
|
||||
|
||||
python main.py --env_path="/home/valapeos/Projects/thesis/Godot/pneuma.x86_64" --speedup=200 --n_parallel=4 --exper_dir="logs/sb3_full_3" &&
|
||||
|
||||
python main.py --env_path="/home/valapeos/Projects/thesis/Godot/pneuma.x86_64" --speedup=200 --n_parallel=4 --exper_dir="logs/sb3_full_4"
|
||||
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Reference in a new issue