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Toni-SM/skrl/tests/test_examples_shimmy.py | import os
import subprocess
import warnings
import hypothesis
import hypothesis.strategies as st
import pytest
EXAMPLE_DIR = "shimmy"
SCRIPTS = ["dqn_shimmy_atari_pong.py",
"sac_shimmy_dm_control_acrobot_swingup_sparse.py",
"ddpg_openai_gym_compatibility_pendulum.py"]
EXAMPLES_DIR = os.path.abspath(os.path.join(os.path.dirname(os.path.abspath(__file__)), "..", "docs", "source", "examples"))
COMMANDS = [f"python {os.path.join(EXAMPLES_DIR, EXAMPLE_DIR, script)}" for script in SCRIPTS]
@pytest.mark.parametrize("command", COMMANDS)
def test_scripts(capsys, command):
try:
import shimmy
except ImportError as e:
warnings.warn(f"\n\nUnable to import shimmy ({e}).\nThis test will be skipped\n")
return
subprocess.run(command, shell=True, check=True)
| 814 | Python | 30.346153 | 124 | 0.697789 |
Toni-SM/skrl/tests/test_model_instantiators.py | import warnings
import hypothesis
import hypothesis.strategies as st
import pytest
import torch
from skrl.models.torch import Model
from skrl.utils.model_instantiators import (
Shape,
categorical_model,
deterministic_model,
gaussian_model,
multivariate_gaussian_model
)
@pytest.fixture
def classes_and_kwargs():
return [(categorical_model, {}),
(deterministic_model, {}),
(gaussian_model, {}),
(multivariate_gaussian_model, {})]
def test_models(capsys, classes_and_kwargs):
for klass, kwargs in classes_and_kwargs:
model: Model = klass(observation_space=1, action_space=1, device="cpu", **kwargs)
| 675 | Python | 22.310344 | 89 | 0.685926 |
Toni-SM/skrl/tests/test_examples_isaacgym.py | import os
import subprocess
import warnings
import hypothesis
import hypothesis.strategies as st
import pytest
EXAMPLE_DIR = "isaacgym"
SCRIPTS = ["ppo_cartpole.py",
"trpo_cartpole.py"]
EXAMPLES_DIR = os.path.abspath(os.path.join(os.path.dirname(os.path.abspath(__file__)), "..", "docs", "source", "examples"))
COMMANDS = [f"python {os.path.join(EXAMPLES_DIR, EXAMPLE_DIR, script)} headless=True num_envs=64" for script in SCRIPTS]
@pytest.mark.parametrize("command", COMMANDS)
def test_scripts(capsys, command):
try:
import isaacgymenvs
except ImportError as e:
warnings.warn(f"\n\nUnable to import isaacgymenvs ({e}).\nThis test will be skipped\n")
return
subprocess.run(command, shell=True, check=True)
| 758 | Python | 29.359999 | 124 | 0.704485 |
Toni-SM/skrl/tests/utils.py | import random
import gymnasium as gym
import torch
class DummyEnv(gym.Env):
def __init__(self, num_envs, device = "cpu"):
self.num_agents = 1
self.num_envs = num_envs
self.device = torch.device(device)
self.action_space = gym.spaces.Discrete(2)
self.observation_space = gym.spaces.Box(low=-1, high=1, shape=(2,))
def __getattr__(self, key):
if key in ["_spec_to_space", "observation_spec"]:
return lambda *args, **kwargs: None
return None
def step(self, action):
observation = self.observation_space.sample()
reward = random.random()
terminated = random.random() > 0.95
truncated = random.random() > 0.95
observation = torch.tensor(observation, dtype=torch.float32).view(self.num_envs, -1)
reward = torch.tensor(reward, device=self.device, dtype=torch.float32).view(self.num_envs, -1)
terminated = torch.tensor(terminated, device=self.device, dtype=torch.bool).view(self.num_envs, -1)
truncated = torch.tensor(truncated, device=self.device, dtype=torch.bool).view(self.num_envs, -1)
return observation, reward, terminated, truncated, {}
def reset(self):
observation = self.observation_space.sample()
observation = torch.tensor(observation, dtype=torch.float32).view(self.num_envs, -1)
return observation, {}
def render(self, *args, **kwargs):
pass
def close(self, *args, **kwargs):
pass
class _DummyBaseAgent:
def __init__(self):
pass
def record_transition(self, states, actions, rewards, next_states, terminated, truncated, infos, timestep, timesteps):
pass
def pre_interaction(self, timestep, timesteps):
pass
def post_interaction(self, timestep, timesteps):
pass
def set_running_mode(self, mode):
pass
class DummyAgent(_DummyBaseAgent):
def __init__(self):
super().__init__()
def init(self, trainer_cfg=None):
pass
def act(self, states, timestep, timesteps):
return torch.tensor([]), None, {}
def record_transition(self, states, actions, rewards, next_states, terminated, truncated, infos, timestep, timesteps):
pass
def pre_interaction(self, timestep, timesteps):
pass
def post_interaction(self, timestep, timesteps):
pass
class DummyModel(torch.nn.Module):
def __init__(self):
super().__init__()
self.device = torch.device("cpu")
self.layer = torch.nn.Linear(1, 1)
def set_mode(self, *args, **kwargs):
pass
def get_specification(self, *args, **kwargs):
return {}
def act(self, *args, **kwargs):
return torch.tensor([]), None, {}
| 2,763 | Python | 27.494845 | 122 | 0.621426 |
Toni-SM/skrl/tests/test_memories.py | import string
import warnings
import hypothesis
import hypothesis.strategies as st
import pytest
import torch
from skrl.memories.torch import Memory, RandomMemory
@pytest.fixture
def classes_and_kwargs():
return [(RandomMemory, {})]
@pytest.mark.parametrize("device", [None, "cpu", "cuda:0"])
def test_device(capsys, classes_and_kwargs, device):
_device = torch.device(device) if device is not None else torch.device("cuda:0" if torch.cuda.is_available() else "cpu")
for klass, kwargs in classes_and_kwargs:
try:
memory: Memory = klass(memory_size=1, device=device, **kwargs)
except (RuntimeError, AssertionError) as e:
with capsys.disabled():
print(e)
warnings.warn(f"Invalid device: {device}. This test will be skipped")
continue
assert memory.device == _device # defined device
@hypothesis.given(names=st.sets(st.text(alphabet=string.ascii_letters + string.digits + "_", min_size=1, max_size=10), min_size=1, max_size=10))
@hypothesis.settings(suppress_health_check=[hypothesis.HealthCheck.function_scoped_fixture], deadline=None)
def test_create_tensors(capsys, classes_and_kwargs, names):
for klass, kwargs in classes_and_kwargs:
memory: Memory = klass(memory_size=1, **kwargs)
for name in names:
memory.create_tensor(name=name, size=1, dtype=torch.float32)
assert memory.get_tensor_names() == sorted(names)
@hypothesis.given(memory_size=st.integers(min_value=1, max_value=100),
num_envs=st.integers(min_value=1, max_value=10),
num_samples=st.integers(min_value=1, max_value=500))
@hypothesis.settings(suppress_health_check=[hypothesis.HealthCheck.function_scoped_fixture], deadline=None)
def test_add_samples(capsys, classes_and_kwargs, memory_size, num_envs, num_samples):
for klass, kwargs in classes_and_kwargs:
memory: Memory = klass(memory_size=memory_size, num_envs=num_envs, **kwargs)
memory.create_tensor(name="tensor_1", size=1, dtype=torch.float32)
memory.create_tensor(name="tensor_2", size=2, dtype=torch.float32)
# memory_index
for _ in range(num_samples):
memory.add_samples(tensor_1=torch.zeros((num_envs, 1)))
assert memory.memory_index == num_samples % memory_size
assert memory.filled == (num_samples >= memory_size)
memory.reset()
# memory_index, env_index
for _ in range(num_samples):
memory.add_samples(tensor_2=torch.zeros((2,)))
assert memory.memory_index == (num_samples // num_envs) % memory_size
assert memory.env_index == num_samples % num_envs
assert memory.filled == (num_samples >= memory_size * num_envs)
| 2,769 | Python | 38.571428 | 144 | 0.668834 |
Toni-SM/skrl/tests/test_examples_isaac_orbit.py | import os
import subprocess
import warnings
import hypothesis
import hypothesis.strategies as st
import pytest
# See the following link for Isaac Orbit environment
# https://isaac-orbit.github.io/orbit/source/setup/installation.html
PYTHON_ENVIRONMENT = "orbit -p"
EXAMPLE_DIR = "isaacorbit"
SCRIPTS = ["ppo_cartpole.py"]
EXAMPLES_DIR = os.path.abspath(os.path.join(os.path.dirname(os.path.abspath(__file__)), "..", "docs", "source", "examples"))
COMMANDS = [f"{PYTHON_ENVIRONMENT} {os.path.join(EXAMPLES_DIR, EXAMPLE_DIR, script)} --headless --num_envs 64" for script in SCRIPTS]
@pytest.mark.parametrize("command", COMMANDS)
def test_scripts(capsys, command):
try:
from omni.isaac.kit import SimulationApp
except ImportError as e:
warnings.warn(f"\n\nUnable to import omni.isaac.kit ({e}).\nThis test will be skipped\n")
return
subprocess.run(command, shell=True, check=True)
| 920 | Python | 31.892856 | 133 | 0.725 |
Toni-SM/skrl/tests/test_trainers.py | import warnings
import hypothesis
import hypothesis.strategies as st
import pytest
import torch
from skrl.trainers.torch import ManualTrainer, ParallelTrainer, SequentialTrainer, Trainer
from .utils import DummyAgent, DummyEnv
@pytest.fixture
def classes_and_kwargs():
return [(ManualTrainer, {"cfg": {"timesteps": 100}}),
(ParallelTrainer, {"cfg": {"timesteps": 100}}),
(SequentialTrainer, {"cfg": {"timesteps": 100}})]
def test_train(capsys, classes_and_kwargs):
env = DummyEnv(num_envs=1)
agent = DummyAgent()
for klass, kwargs in classes_and_kwargs:
trainer: Trainer = klass(env, agents=agent, **kwargs)
trainer.train()
def test_eval(capsys, classes_and_kwargs):
env = DummyEnv(num_envs=1)
agent = DummyAgent()
for klass, kwargs in classes_and_kwargs:
trainer: Trainer = klass(env, agents=agent, **kwargs)
trainer.eval()
| 921 | Python | 23.918918 | 90 | 0.676439 |
Toni-SM/skrl/tests/test_examples_deepmind.py | import os
import subprocess
import warnings
import hypothesis
import hypothesis.strategies as st
import pytest
EXAMPLE_DIR = "deepmind"
SCRIPTS = ["dm_suite_cartpole_swingup_ddpg.py",
"dm_manipulation_stack_sac.py", ""]
EXAMPLES_DIR = os.path.abspath(os.path.join(os.path.dirname(os.path.abspath(__file__)), "..", "docs", "source", "examples"))
COMMANDS = [f"python {os.path.join(EXAMPLES_DIR, EXAMPLE_DIR, script)}" for script in SCRIPTS]
@pytest.mark.parametrize("command", COMMANDS)
def test_scripts(capsys, command):
try:
import gym
except ImportError as e:
warnings.warn(f"\n\nUnable to import dm_control environments ({e}).\nThis test will be skipped\n")
return
subprocess.run(command, shell=True, check=True)
| 768 | Python | 29.759999 | 124 | 0.700521 |
Toni-SM/skrl/tests/test_jax_memories_memory.py | import math
import unittest
import gym
import jax
import jax.numpy as jnp
import numpy as np
from skrl.memories.jax import Memory
class TestCase(unittest.TestCase):
def setUp(self):
self.devices = [jax.devices("cpu")[0], jax.devices("gpu")[0]]
self.memory_sizes = [10, 100, 1000]
self.num_envs = [1, 10, 100]
self.names = ["states", "actions", "rewards", "dones"]
self.raw_sizes = [gym.spaces.Box(-1, 1, shape=(5,)), gym.spaces.Discrete(5), 1, 1]
self.sizes = [5, 1, 1, 1]
self.raw_dtypes = [jnp.float32, int, float, bool]
self.dtypes = [np.float32, np.int32, np.float32, bool]
self.mini_batches = [1, 2, 3, 5, 7]
def tearDown(self):
pass
def test_devices(self):
for device in self.devices:
# TODO: test
pass
def test_tensor_names(self):
for memory_size, num_envs in zip(self.memory_sizes, self.num_envs):
# create memory
memory = Memory(memory_size=memory_size, num_envs=num_envs)
# create tensors
for name, size, dtype in zip(self.names, self.raw_sizes, self.raw_dtypes):
memory.create_tensor(name, size, dtype)
# test memory.get_tensor_names
self.assertCountEqual(self.names, memory.get_tensor_names(), "get_tensor_names")
# test memory.get_tensor_by_name
for name, size, dtype in zip(self.names, self.sizes, self.dtypes):
tensor = memory.get_tensor_by_name(name, keepdim=True)
self.assertSequenceEqual(memory.get_tensor_by_name(name, keepdim=True).shape, (memory_size, num_envs, size), "get_tensor_by_name(..., keepdim=True)")
self.assertSequenceEqual(memory.get_tensor_by_name(name, keepdim=False).shape, (memory_size * num_envs, size), "get_tensor_by_name(..., keepdim=False)")
self.assertEqual(memory.get_tensor_by_name(name, keepdim=True).dtype, dtype, "get_tensor_by_name(...).dtype")
# test memory.set_tensor_by_name
for name, size, dtype in zip(self.names, self.sizes, self.raw_dtypes):
new_tensor = jnp.arange(memory_size * num_envs * size).reshape(memory_size, num_envs, size).astype(dtype)
memory.set_tensor_by_name(name, new_tensor)
tensor = memory.get_tensor_by_name(name, keepdim=True)
self.assertTrue((tensor == new_tensor).all().item(), "set_tensor_by_name(...)")
def test_sample(self):
for memory_size, num_envs in zip(self.memory_sizes, self.num_envs):
# create memory
memory = Memory(memory_size=memory_size, num_envs=num_envs)
# create tensors
for name, size, dtype in zip(self.names, self.raw_sizes, self.raw_dtypes):
memory.create_tensor(name, size, dtype)
# fill memory
for name, size, dtype in zip(self.names, self.sizes, self.raw_dtypes):
new_tensor = jnp.arange(memory_size * num_envs * size).reshape(memory_size, num_envs, size).astype(dtype)
memory.set_tensor_by_name(name, new_tensor)
# test memory.sample_all
for i, mini_batches in enumerate(self.mini_batches):
samples = memory.sample_all(self.names, mini_batches=mini_batches)
for sample, name, size in zip(samples[i], self.names, self.sizes):
self.assertSequenceEqual(sample.shape, (memory_size * num_envs, size), f"sample_all(...).shape with mini_batches={mini_batches}")
tensor = memory.get_tensor_by_name(name, keepdim=True)
self.assertTrue((sample.reshape(memory_size, num_envs, size) == tensor).all().item(), f"sample_all(...) with mini_batches={mini_batches}")
if __name__ == '__main__':
import sys
if not sys.argv[-1] == '--debug':
raise RuntimeError('Test can only be runned manually with --debug flag')
test = TestCase()
test.setUp()
for method in dir(test):
if method.startswith('test_'):
print('Running test: {}'.format(method))
getattr(test, method)()
test.tearDown()
print('All tests passed.')
| 4,231 | Python | 42.183673 | 168 | 0.599858 |
Toni-SM/skrl/tests/test_resources_noises.py | import warnings
import hypothesis
import hypothesis.strategies as st
import pytest
import torch
from skrl.resources.noises.torch import GaussianNoise, Noise, OrnsteinUhlenbeckNoise
@pytest.fixture
def classes_and_kwargs():
return [(GaussianNoise, {"mean": 0, "std": 1}),
(OrnsteinUhlenbeckNoise, {"theta": 0.1, "sigma": 0.2, "base_scale": 0.3})]
@pytest.mark.parametrize("device", [None, "cpu", "cuda:0"])
def test_device(capsys, classes_and_kwargs, device):
_device = torch.device(device) if device is not None else torch.device("cuda:0" if torch.cuda.is_available() else "cpu")
for klass, kwargs in classes_and_kwargs:
try:
noise: Noise = klass(device=device, **kwargs)
except (RuntimeError, AssertionError) as e:
with capsys.disabled():
print(e)
warnings.warn(f"Invalid device: {device}. This test will be skipped")
continue
output = noise.sample((1,))
assert noise.device == _device # defined device
assert output.device == _device # runtime device
@hypothesis.given(size=st.lists(st.integers(min_value=1, max_value=10), max_size=5))
@hypothesis.settings(suppress_health_check=[hypothesis.HealthCheck.function_scoped_fixture], deadline=None)
def test_sample(capsys, classes_and_kwargs, size):
for klass, kwargs in classes_and_kwargs:
noise: Noise = klass(**kwargs)
# sample
output = noise.sample(size)
assert output.size() == torch.Size(size)
# sample like
tensor = torch.rand(size, device="cpu")
output = noise.sample_like(tensor)
assert output.size() == torch.Size(size)
| 1,686 | Python | 34.145833 | 124 | 0.657177 |
Toni-SM/skrl/tests/test_examples_gym.py | import os
import subprocess
import warnings
import hypothesis
import hypothesis.strategies as st
import pytest
EXAMPLE_DIR = "gym"
SCRIPTS = ["ddpg_gym_pendulum.py",
"cem_gym_cartpole.py",
"dqn_gym_cartpole.py",
"q_learning_gym_frozen_lake.py"]
EXAMPLES_DIR = os.path.abspath(os.path.join(os.path.dirname(os.path.abspath(__file__)), "..", "docs", "source", "examples"))
COMMANDS = [f"python {os.path.join(EXAMPLES_DIR, EXAMPLE_DIR, script)}" for script in SCRIPTS]
@pytest.mark.parametrize("command", COMMANDS)
def test_scripts(capsys, command):
try:
import gym
except ImportError as e:
warnings.warn(f"\n\nUnable to import gym ({e}).\nThis test will be skipped\n")
return
subprocess.run(command, shell=True, check=True)
| 795 | Python | 28.48148 | 124 | 0.674214 |
Toni-SM/skrl/tests/test_resources_preprocessors.py | import warnings
import gym
import gymnasium
import hypothesis
import hypothesis.strategies as st
import pytest
import torch
from skrl.resources.preprocessors.torch import RunningStandardScaler
@pytest.fixture
def classes_and_kwargs():
return [(RunningStandardScaler, {"size": 1})]
@pytest.mark.parametrize("device", [None, "cpu", "cuda:0"])
def test_device(capsys, classes_and_kwargs, device):
_device = torch.device(device) if device is not None else torch.device("cuda:0" if torch.cuda.is_available() else "cpu")
for klass, kwargs in classes_and_kwargs:
try:
preprocessor = klass(device=device, **kwargs)
except (RuntimeError, AssertionError) as e:
with capsys.disabled():
print(e)
warnings.warn(f"Invalid device: {device}. This test will be skipped")
continue
assert preprocessor.device == _device # defined device
assert preprocessor(torch.ones(kwargs["size"], device=_device)).device == _device # runtime device
@pytest.mark.parametrize("space_and_size", [(gym.spaces.Box(low=-1, high=1, shape=(2, 3)), 6),
(gymnasium.spaces.Box(low=-1, high=1, shape=(2, 3)), 6),
(gym.spaces.Discrete(n=3), 1),
(gymnasium.spaces.Discrete(n=3), 1)])
def test_forward(capsys, classes_and_kwargs, space_and_size):
for klass, kwargs in classes_and_kwargs:
space, size = space_and_size
preprocessor = klass(size=space, device="cpu")
output = preprocessor(torch.rand((10, size), device="cpu"))
assert output.shape == torch.Size((10, size))
| 1,711 | Python | 37.044444 | 124 | 0.62069 |
Toni-SM/skrl/docs/README.md | # Documentation
## Install Sphinx and Read the Docs Sphinx Theme
```bash
cd docs
pip install -r requirements.txt
```
## Building the documentation
```bash
cd docs
make html
```
Building each time a file is changed:
```bash
cd docs
sphinx-autobuild ./source/ _build/html
```
## Useful links
- [Sphinx directives](https://www.sphinx-doc.org/en/master/usage/restructuredtext/directives.html)
- [Math support in Sphinx](https://www.sphinx-doc.org/en/1.0/ext/math.html)
| 473 | Markdown | 15.928571 | 98 | 0.725159 |
Toni-SM/skrl/docs/source/404.rst | :orphan:
Page not found
==============
.. image:: _static/data/404-light.svg
:width: 50%
:align: center
:class: only-light
:alt: 404
.. image:: _static/data/404-dark.svg
:width: 50%
:align: center
:class: only-dark
:alt: 404
.. raw:: html
<br>
<div style="text-align: center; font-size: 1.75rem;">
<p style="margin: 0;"><strong>404: Puzzle piece not found.</strong></p>
<p style="margin: 0;">Did you look under the sofa cushions?</p>
</div>
<br>
<br>
Since version 1.0.0, the documentation structure has changed to improve content organization and to provide a better browsing experience.
Navigate using the left sidebar or type in the search box to find what you are looking for.
| 755 | reStructuredText | 24.199999 | 137 | 0.631788 |
Toni-SM/skrl/docs/source/index.rst | SKRL - Reinforcement Learning library (|version|)
=================================================
.. raw:: html
<a href="https://pypi.org/project/skrl">
<img alt="pypi" src="https://img.shields.io/pypi/v/skrl">
</a>
<a href="https://huggingface.co/skrl">
<img alt="huggingface" src="https://img.shields.io/badge/%F0%9F%A4%97%20models-hugging%20face-F8D521">
</a>
<a href="https://github.com/Toni-SM/skrl/discussions">
<img alt="discussions" src="https://img.shields.io/github/discussions/Toni-SM/skrl">
</a>
<br>
<a href="https://github.com/Toni-SM/skrl/blob/main/LICENSE">
<img alt="license" src="https://img.shields.io/github/license/Toni-SM/skrl">
</a>
<a href="https://skrl.readthedocs.io">
<img alt="docs" src="https://readthedocs.org/projects/skrl/badge/?version=latest">
</a>
<a href="https://github.com/Toni-SM/skrl/actions/workflows/python-test.yml">
<img alt="pytest" src="https://github.com/Toni-SM/skrl/actions/workflows/python-test.yml/badge.svg">
</a>
<a href="https://github.com/Toni-SM/skrl/actions/workflows/pre-commit.yml">
<img alt="pre-commit" src="https://github.com/Toni-SM/skrl/actions/workflows/pre-commit.yml/badge.svg">
</a>
<br><br>
**skrl** is an open-source library for Reinforcement Learning written in Python (on top of `PyTorch <https://pytorch.org/>`_ and `JAX <https://jax.readthedocs.io>`_) and designed with a focus on modularity, readability, simplicity and transparency of algorithm implementation. In addition to supporting the OpenAI `Gym <https://www.gymlibrary.dev>`_ / Farama `Gymnasium <https://gymnasium.farama.org/>`_, `DeepMind <https://github.com/deepmind/dm_env>`_ and other environment interfaces, it allows loading and configuring `NVIDIA Isaac Gym <https://developer.nvidia.com/isaac-gym>`_, `NVIDIA Isaac Orbit <https://isaac-orbit.github.io/orbit/index.html>`_ and `NVIDIA Omniverse Isaac Gym <https://docs.omniverse.nvidia.com/isaacsim/latest/tutorial_gym_isaac_gym.html>`_ environments, enabling agents' simultaneous training by scopes (subsets of environments among all available environments), which may or may not share resources, in the same run.
**Main features:**
* PyTorch (|_1| |pytorch| |_1|) and JAX (|_1| |jax| |_1|)
* Clean code
* Modularity and reusability
* Documented library, code and implementations
* Support for Gym/Gymnasium (single and vectorized), DeepMind, NVIDIA Isaac Gym (preview 2, 3 and 4), NVIDIA Isaac Orbit, NVIDIA Omniverse Isaac Gym environments, among others
* Simultaneous learning by scopes in Gym/Gymnasium (vectorized), NVIDIA Isaac Gym, NVIDIA Isaac Orbit and NVIDIA Omniverse Isaac Gym
.. raw:: html
<br>
.. warning::
**skrl** is under **active continuous development**. Make sure you always have the latest version. Visit the `develop <https://github.com/Toni-SM/skrl/tree/develop>`_ branch or its `documentation <https://skrl.readthedocs.io/en/develop>`_ to access the latest updates to be released.
| **GitHub repository:** https://github.com/Toni-SM/skrl
| **Questions or discussions:** https://github.com/Toni-SM/skrl/discussions
|
**Citing skrl:** To cite this library (created at Mondragon Unibertsitatea) use the following reference to its article: `skrl: Modular and Flexible Library for Reinforcement Learning <http://jmlr.org/papers/v24/23-0112.html>`_.
.. code-block:: bibtex
@article{serrano2023skrl,
author = {Antonio Serrano-Muñoz and Dimitrios Chrysostomou and Simon Bøgh and Nestor Arana-Arexolaleiba},
title = {skrl: Modular and Flexible Library for Reinforcement Learning},
journal = {Journal of Machine Learning Research},
year = {2023},
volume = {24},
number = {254},
pages = {1--9},
url = {http://jmlr.org/papers/v24/23-0112.html}
}
.. raw:: html
<br><hr>
User guide
----------
To start using the library, visit the following links:
.. toctree::
:maxdepth: 1
intro/installation
intro/getting_started
intro/examples
intro/data
.. raw:: html
<br><hr>
Library components (overview)
-----------------------------
.. toctree::
:caption: API
:hidden:
api/agents
api/multi_agents
api/envs
api/memories
api/models
api/resources
api/trainers
api/utils
Agents
^^^^^^
Definition of reinforcement learning algorithms that compute an optimal policy. All agents inherit from one and only one :doc:`base class <api/agents>` (that defines a uniform interface and provides for common functionalities) but which is not tied to the implementation details of the algorithms
* :doc:`Advantage Actor Critic <api/agents/a2c>` (**A2C**)
* :doc:`Adversarial Motion Priors <api/agents/amp>` (**AMP**)
* :doc:`Cross-Entropy Method <api/agents/cem>` (**CEM**)
* :doc:`Deep Deterministic Policy Gradient <api/agents/ddpg>` (**DDPG**)
* :doc:`Double Deep Q-Network <api/agents/ddqn>` (**DDQN**)
* :doc:`Deep Q-Network <api/agents/dqn>` (**DQN**)
* :doc:`Proximal Policy Optimization <api/agents/ppo>` (**PPO**)
* :doc:`Q-learning <api/agents/q_learning>` (**Q-learning**)
* :doc:`Robust Policy Optimization <api/agents/rpo>` (**RPO**)
* :doc:`Soft Actor-Critic <api/agents/sac>` (**SAC**)
* :doc:`State Action Reward State Action <api/agents/sarsa>` (**SARSA**)
* :doc:`Twin-Delayed DDPG <api/agents/td3>` (**TD3**)
* :doc:`Trust Region Policy Optimization <api/agents/trpo>` (**TRPO**)
Multi-agents
^^^^^^^^^^^^
Definition of reinforcement learning algorithms that compute an optimal policies. All agents (multi-agents) inherit from one and only one :doc:`base class <api/multi_agents>` (that defines a uniform interface and provides for common functionalities) but which is not tied to the implementation details of the algorithms
* :doc:`Independent Proximal Policy Optimization <api/multi_agents/ippo>` (**IPPO**)
* :doc:`Multi-Agent Proximal Policy Optimization <api/multi_agents/mappo>` (**MAPPO**)
Environments
^^^^^^^^^^^^
Definition of the Isaac Gym (preview 2, 3 and 4), Isaac Orbit and Omniverse Isaac Gym environment loaders, and wrappers for the Gym/Gymnasium, DeepMind, Isaac Gym, Isaac Orbit, Omniverse Isaac Gym environments, among others
* :doc:`Single-agent environment wrapping <api/envs/wrapping>` for **Gym/Gymnasium**, **DeepMind**, **Isaac Gym**, **Isaac Orbit**, **Omniverse Isaac Gym** environments, among others
* :doc:`Multi-agent environment wrapping <api/envs/multi_agents_wrapping>` for **PettingZoo** and **Bi-DexHands** environments
* Loading :doc:`Isaac Gym environments <api/envs/isaac_gym>`
* Loading :doc:`Isaac Orbit environments <api/envs/isaac_orbit>`
* Loading :doc:`Omniverse Isaac Gym environments <api/envs/omniverse_isaac_gym>`
Memories
^^^^^^^^
Generic memory definitions. Such memories are not bound to any agent and can be used for any role such as rollout buffer or experience replay memory, for example. All memories inherit from a :doc:`base class <api/memories>` that defines a uniform interface and keeps track (in allocated tensors) of transitions with the environment or other defined data
* :doc:`Random memory <api/memories/random>`
Models
^^^^^^
Definition of helper mixins for the construction of tabular functions or function approximators using artificial neural networks. This library does not provide predefined policies but helper mixins to create discrete and continuous (stochastic or deterministic) policies in which the user only has to define the tables (tensors) or artificial neural networks. All models inherit from one :doc:`base class <api/models>` that defines a uniform interface and provides for common functionalities. In addition, it is possible to create :doc:`shared model <api/models/shared_model>` by combining the implemented definitions
* :doc:`Tabular model <api/models/tabular>` (discrete domain)
* :doc:`Categorical model <api/models/categorical>` (discrete domain)
* :doc:`Multi-Categorical model <api/models/multicategorical>` (discrete domain)
* :doc:`Gaussian model <api/models/gaussian>` (continuous domain)
* :doc:`Multivariate Gaussian model <api/models/multivariate_gaussian>` (continuous domain)
* :doc:`Deterministic model <api/models/deterministic>` (continuous domain)
Trainers
^^^^^^^^
Definition of the procedures responsible for managing the agent's training and interaction with the environment. All trainers inherit from a :doc:`base class <api/trainers>` that defines a uniform interface and provides for common functionalities
* :doc:`Sequential trainer <api/trainers/sequential>`
* :doc:`Parallel trainer <api/trainers/parallel>`
* :doc:`Step trainer <api/trainers/step>`
Resources
^^^^^^^^^
Definition of resources used by the agents during training and/or evaluation, such as exploration noises or learning rate schedulers
**Noises:** Definition of the noises used by the agents during the exploration stage. All noises inherit from a :doc:`base class <api/resources/noises>` that defines a uniform interface
* :doc:`Gaussian <api/resources/noises/gaussian>` noise
* :doc:`Ornstein-Uhlenbeck <api/resources/noises/ornstein_uhlenbeck>` noise
**Learning rate schedulers:** Definition of learning rate schedulers. All schedulers inherit from the PyTorch :literal:`_LRScheduler` class (see `how to adjust learning rate <https://pytorch.org/docs/stable/optim.html#how-to-adjust-learning-rate>`_ in the PyTorch documentation for more details)
* :doc:`KL Adaptive <api/resources/schedulers/kl_adaptive>`
**Preprocessors:** Definition of preprocessors
* :doc:`Running standard scaler <api/resources/preprocessors/running_standard_scaler>`
**Optimizers:** Definition of optimizers
* :doc:`Adam <api/resources/optimizers/adam>`
Utils and configurations
^^^^^^^^^^^^^^^^^^^^^^^^
Definition of utilities and configurations
* :doc:`ML frameworks <api/config/frameworks>` configuration
* :doc:`Random seed <api/utils/seed>`
* Memory and Tensorboard :doc:`file post-processing <api/utils/postprocessing>`
* :doc:`Model instantiators <api/utils/model_instantiators>`
* :doc:`Hugging Face integration <api/utils/huggingface>`
* :doc:`Isaac Gym utils <api/utils/isaacgym_utils>`
* :doc:`Omniverse Isaac Gym utils <api/utils/omniverse_isaacgym_utils>`
| 10,541 | reStructuredText | 50.42439 | 946 | 0.703823 |
Toni-SM/skrl/docs/source/conf.py | import os
import sys
# skrl library
sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "..")))
print("[DOCS] skrl library path: {}".format(sys.path[0]))
import skrl
# project information
project = "skrl"
copyright = "2021, Toni-SM"
author = "Toni-SM"
if skrl.__version__ != "unknown":
release = version = skrl.__version__
else:
release = version = "1.1.0"
master_doc = "index"
# general configuration
extensions = [
"sphinx.ext.duration",
"sphinx.ext.doctest",
"sphinx.ext.autodoc",
"sphinx.ext.autosummary",
"sphinx.ext.intersphinx",
"sphinx_tabs.tabs",
"sphinx_copybutton",
"notfound.extension",
]
# generate links to the documentation of objects in external projects
intersphinx_mapping = {
"python": ("https://docs.python.org/3/", None),
"gym": ("https://www.gymlibrary.dev/", None),
"gymnasium": ("https://gymnasium.farama.org/", None),
"numpy": ("https://numpy.org/doc/stable/", None),
"torch": ("https://pytorch.org/docs/stable/", None),
"jax": ("https://jax.readthedocs.io/en/latest/", None),
"flax": ("https://flax.readthedocs.io/en/latest/", None),
"optax": ("https://optax.readthedocs.io/en/latest/", None),
}
pygments_style = "tango"
pygments_dark_style = "zenburn"
intersphinx_disabled_domains = ["std"]
templates_path = ["_templates"]
rst_prolog = """
.. include:: <s5defs.txt>
.. |_1| unicode:: 0xA0
:trim:
.. |_2| unicode:: 0xA0 0xA0
:trim:
.. |_3| unicode:: 0xA0 0xA0 0xA0
:trim:
.. |_4| unicode:: 0xA0 0xA0 0xA0 0xA0
:trim:
.. |_5| unicode:: 0xA0 0xA0 0xA0 0xA0 0xA0
:trim:
.. |jax| image:: /_static/data/logo-jax.svg
:width: 28
.. |pytorch| image:: /_static/data/logo-torch.svg
:width: 16
.. |br| raw:: html
<br>
"""
# HTML output
html_theme = "furo"
html_title = f"<div style='text-align: center;'><strong>{project}</strong> ({version})</div>"
html_scaled_image_link = False
html_static_path = ["_static"]
html_favicon = "_static/data/favicon.ico"
html_css_files = ["css/skrl.css", "css/s5defs-roles.css"]
html_theme_options = {
# logo
"light_logo": "data/logo-light-mode.png",
"dark_logo": "data/logo-dark-mode.png",
# edit button
"source_repository": "https://github.com/Toni-SM/skrl",
"source_branch": "../tree/main",
"source_directory": "docs/source",
# css
"light_css_variables": {
"color-brand-primary": "#FF4800",
"color-brand-content": "#FF4800",
},
"dark_css_variables": {
"color-brand-primary": "#EAA000",
"color-brand-content": "#EAA000",
},
}
# EPUB output
epub_show_urls = "footnote"
# autodoc ext
autodoc_mock_imports = [
"gym",
"gymnasium",
"torch",
"jax",
"jaxlib",
"flax",
"optax",
"tensorboard",
"tqdm",
"packaging",
"isaacgym",
]
# copybutton ext
copybutton_prompt_text = r">>> |\.\.\. "
copybutton_prompt_is_regexp = True
# notfound ext
notfound_template = "404.rst"
notfound_context = {
"title": "Page Not Found",
"body": """
<h1>Page Not Found</h1>
<p>Sorry, we couldn't find that page in skrl.</p>
<p>Try using the search box or go to the homepage.</p>
""",
}
# suppress warning messages
suppress_warnings = [
"ref.python", # more than one target found for cross-reference
]
| 3,325 | Python | 21.62585 | 93 | 0.613233 |
Toni-SM/skrl/docs/source/examples/gym/jax_gym_pendulum_ddpg.py | import gym
import flax.linen as nn
import jax
import jax.numpy as jnp
# import the skrl components to build the RL system
from skrl import config
from skrl.agents.jax.ddpg import DDPG, DDPG_DEFAULT_CONFIG
from skrl.envs.wrappers.jax import wrap_env
from skrl.memories.jax import RandomMemory
from skrl.models.jax import DeterministicMixin, Model
from skrl.resources.noises.jax import OrnsteinUhlenbeckNoise
from skrl.trainers.jax import SequentialTrainer
from skrl.utils import set_seed
config.jax.backend = "numpy" # or "jax"
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (deterministic models) using mixins
class Actor(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False, **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
DeterministicMixin.__init__(self, clip_actions)
@nn.compact
def __call__(self, inputs, role):
x = nn.relu(nn.Dense(400)(inputs["states"]))
x = nn.relu(nn.Dense(300)(x))
x = nn.Dense(self.num_actions)(x)
# Pendulum-v1 action_space is -2 to 2
return 2 * nn.tanh(x), {}
class Critic(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False, **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
DeterministicMixin.__init__(self, clip_actions)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = jnp.concatenate([inputs["states"], inputs["taken_actions"]], axis=-1)
x = nn.relu(nn.Dense(400)(x))
x = nn.relu(nn.Dense(300)(x))
x = nn.Dense(1)(x)
return x, {}
# load and wrap the gym environment.
# note: the environment version may change depending on the gym version
try:
env = gym.make("Pendulum-v1")
except gym.error.DeprecatedEnv as e:
env_id = [spec.id for spec in gym.envs.registry.all() if spec.id.startswith("Pendulum-v")][0]
print("Pendulum-v1 not found. Trying {}".format(env_id))
env = gym.make(env_id)
env = wrap_env(env)
device = env.device
# instantiate a memory as experience replay
memory = RandomMemory(memory_size=15000, num_envs=env.num_envs, device=device, replacement=False)
# instantiate the agent's models (function approximators).
# DDPG requires 4 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ddpg.html#models
models = {}
models["policy"] = Actor(env.observation_space, env.action_space, device)
models["target_policy"] = Actor(env.observation_space, env.action_space, device)
models["critic"] = Critic(env.observation_space, env.action_space, device)
models["target_critic"] = Critic(env.observation_space, env.action_space, device)
# instantiate models' state dict
for role, model in models.items():
model.init_state_dict(role)
# initialize models' parameters (weights and biases)
for model in models.values():
model.init_parameters(method_name="normal", stddev=0.1)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ddpg.html#configuration-and-hyperparameters
cfg = DDPG_DEFAULT_CONFIG.copy()
cfg["exploration"]["noise"] = OrnsteinUhlenbeckNoise(theta=0.15, sigma=0.1, base_scale=1.0, device=device)
cfg["batch_size"] = 100
cfg["random_timesteps"] = 100
cfg["learning_starts"] = 100
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 75
cfg["experiment"]["checkpoint_interval"] = 750
cfg["experiment"]["directory"] = "runs/jax/Pendulum"
agent = DDPG(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 15000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 4,148 | Python | 35.394737 | 106 | 0.706847 |
Toni-SM/skrl/docs/source/examples/gym/jax_gym_cartpole_cem.py | import gym
import flax.linen as nn
import jax
import jax.numpy as jnp
# import the skrl components to build the RL system
from skrl import config
from skrl.agents.jax.cem import CEM, CEM_DEFAULT_CONFIG
from skrl.envs.wrappers.jax import wrap_env
from skrl.memories.jax import RandomMemory
from skrl.models.jax import CategoricalMixin, Model
from skrl.trainers.jax import SequentialTrainer
from skrl.utils import set_seed
config.jax.backend = "numpy" # or "jax"
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define model (categorical model) using mixin
class Policy(CategoricalMixin, Model):
def __init__(self, observation_space, action_space, device=None, unnormalized_log_prob=True, **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
CategoricalMixin.__init__(self, unnormalized_log_prob)
@nn.compact
def __call__(self, inputs, role):
x = nn.relu(nn.Dense(64)(inputs["states"]))
x = nn.relu(nn.Dense(64)(x))
x = nn.Dense(self.num_actions)(x)
return x, {}
# load and wrap the gym environment.
# note: the environment version may change depending on the gym version
try:
env = gym.make("CartPole-v0")
except gym.error.DeprecatedEnv as e:
env_id = [spec.id for spec in gym.envs.registry.all() if spec.id.startswith("CartPole-v")][0]
print("CartPole-v0 not found. Trying {}".format(env_id))
env = gym.make(env_id)
env = wrap_env(env)
device = env.device
# instantiate a memory as experience replay
memory = RandomMemory(memory_size=1000, num_envs=env.num_envs, device=device, replacement=False)
# instantiate the agent's model (function approximator).
# CEM requires 1 model, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/cem.html#models
models = {}
models["policy"] = Policy(env.observation_space, env.action_space, device)
# instantiate models' state dict
for role, model in models.items():
model.init_state_dict(role)
# initialize models' parameters (weights and biases)
for model in models.values():
model.init_parameters(method_name="normal", stddev=0.1)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/cem.html#configuration-and-hyperparameters
cfg = CEM_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 1000
cfg["learning_starts"] = 100
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 1000
cfg["experiment"]["checkpoint_interval"] = 5000
cfg["experiment"]["directory"] = "runs/jax/CartPole"
agent = CEM(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 100000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 3,045 | Python | 31.404255 | 107 | 0.716585 |
Toni-SM/skrl/docs/source/examples/gym/torch_gym_pendulumnovel_td3.py | import gym
import numpy as np
import torch
import torch.nn as nn
import torch.nn.functional as F
# import the skrl components to build the RL system
from skrl.agents.torch.td3 import TD3, TD3_DEFAULT_CONFIG
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, Model
from skrl.resources.noises.torch import GaussianNoise
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (deterministic models) using mixin
class Actor(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.linear_layer_1 = nn.Linear(self.num_observations, 400)
self.linear_layer_2 = nn.Linear(400, 300)
self.action_layer = nn.Linear(300, self.num_actions)
def compute(self, inputs, role):
x = F.relu(self.linear_layer_1(inputs["states"]))
x = F.relu(self.linear_layer_2(x))
# Pendulum-v1 action_space is -2 to 2
return 2 * torch.tanh(self.action_layer(x)), {}
class Critic(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.linear_layer_1 = nn.Linear(self.num_observations + self.num_actions, 400)
self.linear_layer_2 = nn.Linear(400, 300)
self.linear_layer_3 = nn.Linear(300, 1)
def compute(self, inputs, role):
x = F.relu(self.linear_layer_1(torch.cat([inputs["states"], inputs["taken_actions"]], dim=1)))
x = F.relu(self.linear_layer_2(x))
return self.linear_layer_3(x), {}
# environment observation wrapper used to mask velocity. Adapted from rl_zoo3 (rl_zoo3/wrappers.py)
class NoVelocityWrapper(gym.ObservationWrapper):
def observation(self, observation):
# observation: x, y, angular velocity
return observation * np.array([1, 1, 0])
gym.envs.registration.register(id="PendulumNoVel-v1", entry_point=lambda: NoVelocityWrapper(gym.make("Pendulum-v1")))
# load and wrap the gym environment
env = gym.make("PendulumNoVel-v1")
env = wrap_env(env)
device = env.device
# instantiate a memory as experience replay
memory = RandomMemory(memory_size=20000, num_envs=env.num_envs, device=device, replacement=False)
# instantiate the agent's models (function approximators).
# TD3 requires 6 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/td3.html#models
models = {}
models["policy"] = Actor(env.observation_space, env.action_space, device)
models["target_policy"] = Actor(env.observation_space, env.action_space, device)
models["critic_1"] = Critic(env.observation_space, env.action_space, device)
models["critic_2"] = Critic(env.observation_space, env.action_space, device)
models["target_critic_1"] = Critic(env.observation_space, env.action_space, device)
models["target_critic_2"] = Critic(env.observation_space, env.action_space, device)
# initialize models' parameters (weights and biases)
for model in models.values():
model.init_parameters(method_name="normal_", mean=0.0, std=0.1)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/td3.html#configuration-and-hyperparameters
cfg = TD3_DEFAULT_CONFIG.copy()
cfg["exploration"]["noise"] = GaussianNoise(0, 0.1, device=device)
cfg["smooth_regularization_noise"] = GaussianNoise(0, 0.2, device=device)
cfg["smooth_regularization_clip"] = 0.5
cfg["discount_factor"] = 0.98
cfg["batch_size"] = 100
cfg["random_timesteps"] = 1000
cfg["learning_starts"] = 1000
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 75
cfg["experiment"]["checkpoint_interval"] = 750
cfg["experiment"]["directory"] = "runs/torch/PendulumNoVel"
agent = TD3(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 15000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 4,579 | Python | 38.145299 | 117 | 0.717187 |
Toni-SM/skrl/docs/source/examples/gym/torch_gym_pendulumnovel_trpo_rnn.py | import gym
import numpy as np
import torch
import torch.nn as nn
# import the skrl components to build the RL system
from skrl.agents.torch.trpo import TRPO_DEFAULT_CONFIG
from skrl.agents.torch.trpo import TRPO_RNN as TRPO
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class Policy(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum",
num_envs=1, num_layers=1, hidden_size=64, sequence_length=128):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
self.num_envs = num_envs
self.num_layers = num_layers
self.hidden_size = hidden_size # Hout
self.sequence_length = sequence_length
self.rnn = nn.RNN(input_size=self.num_observations,
hidden_size=self.hidden_size,
num_layers=self.num_layers,
batch_first=True) # batch_first -> (batch, sequence, features)
self.net = nn.Sequential(nn.Linear(self.hidden_size, 64),
nn.ReLU(),
nn.Linear(64, self.num_actions))
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
def get_specification(self):
# batch size (N) is the number of envs
return {"rnn": {"sequence_length": self.sequence_length,
"sizes": [(self.num_layers, self.num_envs, self.hidden_size)]}} # hidden states (D ∗ num_layers, N, Hout)
def compute(self, inputs, role):
states = inputs["states"]
terminated = inputs.get("terminated", None)
hidden_states = inputs["rnn"][0]
# training
if self.training:
rnn_input = states.view(-1, self.sequence_length, states.shape[-1]) # (N, L, Hin): N=batch_size, L=sequence_length
hidden_states = hidden_states.view(self.num_layers, -1, self.sequence_length, hidden_states.shape[-1]) # (D * num_layers, N, L, Hout)
# get the hidden states corresponding to the initial sequence
hidden_states = hidden_states[:,:,0,:].contiguous() # (D * num_layers, N, Hout)
# reset the RNN state in the middle of a sequence
if terminated is not None and torch.any(terminated):
rnn_outputs = []
terminated = terminated.view(-1, self.sequence_length)
indexes = [0] + (terminated[:,:-1].any(dim=0).nonzero(as_tuple=True)[0] + 1).tolist() + [self.sequence_length]
for i in range(len(indexes) - 1):
i0, i1 = indexes[i], indexes[i + 1]
rnn_output, hidden_states = self.rnn(rnn_input[:,i0:i1,:], hidden_states)
hidden_states[:, (terminated[:,i1-1]), :] = 0
rnn_outputs.append(rnn_output)
rnn_output = torch.cat(rnn_outputs, dim=1)
# no need to reset the RNN state in the sequence
else:
rnn_output, hidden_states = self.rnn(rnn_input, hidden_states)
# rollout
else:
rnn_input = states.view(-1, 1, states.shape[-1]) # (N, L, Hin): N=num_envs, L=1
rnn_output, hidden_states = self.rnn(rnn_input, hidden_states)
# flatten the RNN output
rnn_output = torch.flatten(rnn_output, start_dim=0, end_dim=1) # (N, L, D ∗ Hout) -> (N * L, D ∗ Hout)
# Pendulum-v1 action_space is -2 to 2
return 2 * torch.tanh(self.net(rnn_output)), self.log_std_parameter, {"rnn": [hidden_states]}
class Value(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
num_envs=1, num_layers=1, hidden_size=64, sequence_length=128):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.num_envs = num_envs
self.num_layers = num_layers
self.hidden_size = hidden_size # Hout
self.sequence_length = sequence_length
self.rnn = nn.RNN(input_size=self.num_observations,
hidden_size=self.hidden_size,
num_layers=self.num_layers,
batch_first=True) # batch_first -> (batch, sequence, features)
self.net = nn.Sequential(nn.Linear(self.hidden_size, 64),
nn.ReLU(),
nn.Linear(64, 1))
def get_specification(self):
# batch size (N) is the number of envs
return {"rnn": {"sequence_length": self.sequence_length,
"sizes": [(self.num_layers, self.num_envs, self.hidden_size)]}} # hidden states (D ∗ num_layers, N, Hout)
def compute(self, inputs, role):
states = inputs["states"]
terminated = inputs.get("terminated", None)
hidden_states = inputs["rnn"][0]
# training
if self.training:
rnn_input = states.view(-1, self.sequence_length, states.shape[-1]) # (N, L, Hin): N=batch_size, L=sequence_length
hidden_states = hidden_states.view(self.num_layers, -1, self.sequence_length, hidden_states.shape[-1]) # (D * num_layers, N, L, Hout)
# get the hidden states corresponding to the initial sequence
hidden_states = hidden_states[:,:,0,:].contiguous() # (D * num_layers, N, Hout)
# reset the RNN state in the middle of a sequence
if terminated is not None and torch.any(terminated):
rnn_outputs = []
terminated = terminated.view(-1, self.sequence_length)
indexes = [0] + (terminated[:,:-1].any(dim=0).nonzero(as_tuple=True)[0] + 1).tolist() + [self.sequence_length]
for i in range(len(indexes) - 1):
i0, i1 = indexes[i], indexes[i + 1]
rnn_output, hidden_states = self.rnn(rnn_input[:,i0:i1,:], hidden_states)
hidden_states[:, (terminated[:,i1-1]), :] = 0
rnn_outputs.append(rnn_output)
rnn_output = torch.cat(rnn_outputs, dim=1)
# no need to reset the RNN state in the sequence
else:
rnn_output, hidden_states = self.rnn(rnn_input, hidden_states)
# rollout
else:
rnn_input = states.view(-1, 1, states.shape[-1]) # (N, L, Hin): N=num_envs, L=1
rnn_output, hidden_states = self.rnn(rnn_input, hidden_states)
# flatten the RNN output
rnn_output = torch.flatten(rnn_output, start_dim=0, end_dim=1) # (N, L, D ∗ Hout) -> (N * L, D ∗ Hout)
return self.net(rnn_output), {"rnn": [hidden_states]}
# environment observation wrapper used to mask velocity. Adapted from rl_zoo3 (rl_zoo3/wrappers.py)
class NoVelocityWrapper(gym.ObservationWrapper):
def observation(self, observation):
# observation: x, y, angular velocity
return observation * np.array([1, 1, 0])
gym.envs.registration.register(id="PendulumNoVel-v1", entry_point=lambda: NoVelocityWrapper(gym.make("Pendulum-v1")))
# load and wrap the gym environment
env = gym.vector.make("PendulumNoVel-v1", num_envs=4, asynchronous=False)
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=1024, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# TRPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/trpo.html#models
models = {}
models["policy"] = Policy(env.observation_space, env.action_space, device, clip_actions=True, num_envs=env.num_envs)
models["value"] = Value(env.observation_space, env.action_space, device, num_envs=env.num_envs)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/trpo.html#configuration-and-hyperparameters
cfg = TRPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 1024 # memory_size
cfg["learning_epochs"] = 10
cfg["mini_batches"] = 32
cfg["discount_factor"] = 0.9
cfg["lambda"] = 0.95
cfg["learning_rate"] = 1e-3
cfg["grad_norm_clip"] = 0.5
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 500
cfg["experiment"]["checkpoint_interval"] = 5000
cfg["experiment"]["directory"] = "runs/torch/PendulumNoVel"
agent = TRPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 100000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 9,716 | Python | 44.406542 | 146 | 0.620729 |
Toni-SM/skrl/docs/source/examples/gym/torch_gym_pendulumnovel_td3_gru.py | import gym
import numpy as np
import torch
import torch.nn as nn
import torch.nn.functional as F
# import the skrl components to build the RL system
from skrl.agents.torch.td3 import TD3_DEFAULT_CONFIG
from skrl.agents.torch.td3 import TD3_RNN as TD3
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, Model
from skrl.resources.noises.torch import GaussianNoise
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (deterministic models) using mixin
class Actor(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
num_envs=1, num_layers=1, hidden_size=400, sequence_length=20):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.num_envs = num_envs
self.num_layers = num_layers
self.hidden_size = hidden_size # Hout
self.sequence_length = sequence_length
self.gru = nn.GRU(input_size=self.num_observations,
hidden_size=self.hidden_size,
num_layers=self.num_layers,
batch_first=True) # batch_first -> (batch, sequence, features)
self.linear_layer_1 = nn.Linear(self.hidden_size, 400)
self.linear_layer_2 = nn.Linear(400, 300)
self.action_layer = nn.Linear(300, self.num_actions)
def get_specification(self):
# batch size (N) is the number of envs
return {"rnn": {"sequence_length": self.sequence_length,
"sizes": [(self.num_layers, self.num_envs, self.hidden_size)]}} # hidden states (D ∗ num_layers, N, Hout)
def compute(self, inputs, role):
states = inputs["states"]
terminated = inputs.get("terminated", None)
hidden_states = inputs["rnn"][0]
# training
if self.training:
rnn_input = states.view(-1, self.sequence_length, states.shape[-1]) # (N, L, Hin): N=batch_size, L=sequence_length
hidden_states = hidden_states.view(self.num_layers, -1, self.sequence_length, hidden_states.shape[-1]) # (D * num_layers, N, L, Hout)
# get the hidden states corresponding to the initial sequence
sequence_index = 1 if role == "target_policy" else 0 # target networks act on the next state of the environment
hidden_states = hidden_states[:,:,sequence_index,:].contiguous() # (D * num_layers, N, Hout)
# reset the RNN state in the middle of a sequence
if terminated is not None and torch.any(terminated):
rnn_outputs = []
terminated = terminated.view(-1, self.sequence_length)
indexes = [0] + (terminated[:,:-1].any(dim=0).nonzero(as_tuple=True)[0] + 1).tolist() + [self.sequence_length]
for i in range(len(indexes) - 1):
i0, i1 = indexes[i], indexes[i + 1]
rnn_output, hidden_states = self.gru(rnn_input[:,i0:i1,:], hidden_states)
hidden_states[:, (terminated[:,i1-1]), :] = 0
rnn_outputs.append(rnn_output)
rnn_output = torch.cat(rnn_outputs, dim=1)
# no need to reset the RNN state in the sequence
else:
rnn_output, hidden_states = self.gru(rnn_input, hidden_states)
# rollout
else:
rnn_input = states.view(-1, 1, states.shape[-1]) # (N, L, Hin): N=num_envs, L=1
rnn_output, hidden_states = self.gru(rnn_input, hidden_states)
# flatten the RNN output
rnn_output = torch.flatten(rnn_output, start_dim=0, end_dim=1) # (N, L, D ∗ Hout) -> (N * L, D ∗ Hout)
x = F.relu(self.linear_layer_1(rnn_output))
x = F.relu(self.linear_layer_2(x))
# Pendulum-v1 action_space is -2 to 2
return 2 * torch.tanh(self.action_layer(x)), {"rnn": [hidden_states]}
class Critic(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
num_envs=1, num_layers=1, hidden_size=400, sequence_length=20):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.num_envs = num_envs
self.num_layers = num_layers
self.hidden_size = hidden_size # Hout
self.sequence_length = sequence_length
self.gru = nn.GRU(input_size=self.num_observations,
hidden_size=self.hidden_size,
num_layers=self.num_layers,
batch_first=True) # batch_first -> (batch, sequence, features)
self.linear_layer_1 = nn.Linear(self.hidden_size + self.num_actions, 400)
self.linear_layer_2 = nn.Linear(400, 300)
self.linear_layer_3 = nn.Linear(300, 1)
def get_specification(self):
# batch size (N) is the number of envs
return {"rnn": {"sequence_length": self.sequence_length,
"sizes": [(self.num_layers, self.num_envs, self.hidden_size)]}} # hidden states (D ∗ num_layers, N, Hout)
def compute(self, inputs, role):
states = inputs["states"]
terminated = inputs.get("terminated", None)
hidden_states = inputs["rnn"][0]
# critic is only used during training
rnn_input = states.view(-1, self.sequence_length, states.shape[-1]) # (N, L, Hin): N=batch_size, L=sequence_length
hidden_states = hidden_states.view(self.num_layers, -1, self.sequence_length, hidden_states.shape[-1]) # (D * num_layers, N, L, Hout)
# get the hidden states corresponding to the initial sequence
sequence_index = 1 if role in ["target_critic_1", "target_critic_2"] else 0 # target networks act on the next state of the environment
hidden_states = hidden_states[:,:,sequence_index,:].contiguous() # (D * num_layers, N, Hout)
# reset the RNN state in the middle of a sequence
if terminated is not None and torch.any(terminated):
rnn_outputs = []
terminated = terminated.view(-1, self.sequence_length)
indexes = [0] + (terminated[:,:-1].any(dim=0).nonzero(as_tuple=True)[0] + 1).tolist() + [self.sequence_length]
for i in range(len(indexes) - 1):
i0, i1 = indexes[i], indexes[i + 1]
rnn_output, hidden_states = self.gru(rnn_input[:,i0:i1,:], hidden_states)
hidden_states[:, (terminated[:,i1-1]), :] = 0
rnn_outputs.append(rnn_output)
rnn_output = torch.cat(rnn_outputs, dim=1)
# no need to reset the RNN state in the sequence
else:
rnn_output, hidden_states = self.gru(rnn_input, hidden_states)
# flatten the RNN output
rnn_output = torch.flatten(rnn_output, start_dim=0, end_dim=1) # (N, L, D ∗ Hout) -> (N * L, D ∗ Hout)
x = F.relu(self.linear_layer_1(torch.cat([rnn_output, inputs["taken_actions"]], dim=1)))
x = F.relu(self.linear_layer_2(x))
return self.linear_layer_3(x), {"rnn": [hidden_states]}
# environment observation wrapper used to mask velocity. Adapted from rl_zoo3 (rl_zoo3/wrappers.py)
class NoVelocityWrapper(gym.ObservationWrapper):
def observation(self, observation):
# observation: x, y, angular velocity
return observation * np.array([1, 1, 0])
gym.envs.registration.register(id="PendulumNoVel-v1", entry_point=lambda: NoVelocityWrapper(gym.make("Pendulum-v1")))
# load and wrap the gym environment
env = gym.make("PendulumNoVel-v1")
env = wrap_env(env)
device = env.device
# instantiate a memory as experience replay
memory = RandomMemory(memory_size=20000, num_envs=env.num_envs, device=device, replacement=False)
# instantiate the agent's models (function approximators).
# TD3 requires 6 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/td3.html#models
models = {}
models["policy"] = Actor(env.observation_space, env.action_space, device, num_envs=env.num_envs)
models["target_policy"] = Actor(env.observation_space, env.action_space, device, num_envs=env.num_envs)
models["critic_1"] = Critic(env.observation_space, env.action_space, device, num_envs=env.num_envs)
models["critic_2"] = Critic(env.observation_space, env.action_space, device, num_envs=env.num_envs)
models["target_critic_1"] = Critic(env.observation_space, env.action_space, device, num_envs=env.num_envs)
models["target_critic_2"] = Critic(env.observation_space, env.action_space, device, num_envs=env.num_envs)
# initialize models' parameters (weights and biases)
for model in models.values():
model.init_parameters(method_name="normal_", mean=0.0, std=0.1)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/td3.html#configuration-and-hyperparameters
cfg = TD3_DEFAULT_CONFIG.copy()
cfg["exploration"]["noise"] = GaussianNoise(0, 0.1, device=device)
cfg["smooth_regularization_noise"] = GaussianNoise(0, 0.2, device=device)
cfg["smooth_regularization_clip"] = 0.5
cfg["discount_factor"] = 0.98
cfg["batch_size"] = 100
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 1000
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 75
cfg["experiment"]["checkpoint_interval"] = 750
cfg["experiment"]["directory"] = "runs/torch/PendulumNoVel"
agent = TD3(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 15000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 10,087 | Python | 44.854545 | 146 | 0.641122 |
Toni-SM/skrl/docs/source/examples/gym/jax_gym_cartpole_dqn.py | import gym
# import the skrl components to build the RL system
from skrl import config
from skrl.agents.jax.dqn import DQN, DQN_DEFAULT_CONFIG
from skrl.envs.wrappers.jax import wrap_env
from skrl.memories.jax import RandomMemory
from skrl.trainers.jax import SequentialTrainer
from skrl.utils import set_seed
from skrl.utils.model_instantiators.jax import Shape, deterministic_model
config.jax.backend = "numpy" # or "jax"
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# load and wrap the gym environment.
# note: the environment version may change depending on the gym version
try:
env = gym.make("CartPole-v0")
except gym.error.DeprecatedEnv as e:
env_id = [spec.id for spec in gym.envs.registry.all() if spec.id.startswith("CartPole-v")][0]
print("CartPole-v0 not found. Trying {}".format(env_id))
env = gym.make(env_id)
env = wrap_env(env)
device = env.device
# instantiate a memory as experience replay
memory = RandomMemory(memory_size=50000, num_envs=env.num_envs, device=device, replacement=False)
# instantiate the agent's models (function approximators) using the model instantiator utility.
# DQN requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/dqn.html#models
models = {}
models["q_network"] = deterministic_model(observation_space=env.observation_space,
action_space=env.action_space,
device=device,
clip_actions=False,
input_shape=Shape.OBSERVATIONS,
hiddens=[64, 64],
hidden_activation=["relu", "relu"],
output_shape=Shape.ACTIONS,
output_activation=None,
output_scale=1.0)
models["target_q_network"] = deterministic_model(observation_space=env.observation_space,
action_space=env.action_space,
device=device,
clip_actions=False,
input_shape=Shape.OBSERVATIONS,
hiddens=[64, 64],
hidden_activation=["relu", "relu"],
output_shape=Shape.ACTIONS,
output_activation=None,
output_scale=1.0)
# instantiate models' state dict
for role, model in models.items():
model.init_state_dict(role)
# initialize models' parameters (weights and biases)
for model in models.values():
model.init_parameters(method_name="normal", stddev=0.1)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/dqn.html#configuration-and-hyperparameters
cfg = DQN_DEFAULT_CONFIG.copy()
cfg["learning_starts"] = 100
cfg["exploration"]["final_epsilon"] = 0.04
cfg["exploration"]["timesteps"] = 1500
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 1000
cfg["experiment"]["checkpoint_interval"] = 5000
cfg["experiment"]["directory"] = "runs/jax/CartPole"
agent = DQN(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 50000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 3,921 | Python | 39.854166 | 97 | 0.58888 |
Toni-SM/skrl/docs/source/examples/gym/torch_gym_pendulumnovel_sac_gru.py | import gym
import numpy as np
import torch
import torch.nn as nn
import torch.nn.functional as F
# import the skrl components to build the RL system
from skrl.agents.torch.sac import SAC_DEFAULT_CONFIG
from skrl.agents.torch.sac import SAC_RNN as SAC
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class Actor(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum",
num_envs=1, num_layers=1, hidden_size=400, sequence_length=20):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
self.num_envs = num_envs
self.num_layers = num_layers
self.hidden_size = hidden_size # Hout
self.sequence_length = sequence_length
self.gru = nn.GRU(input_size=self.num_observations,
hidden_size=self.hidden_size,
num_layers=self.num_layers,
batch_first=True) # batch_first -> (batch, sequence, features)
self.linear_layer_1 = nn.Linear(self.hidden_size, 400)
self.linear_layer_2 = nn.Linear(400, 300)
self.action_layer = nn.Linear(300, self.num_actions)
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
def get_specification(self):
# batch size (N) is the number of envs
return {"rnn": {"sequence_length": self.sequence_length,
"sizes": [(self.num_layers, self.num_envs, self.hidden_size)]}} # hidden states (D ∗ num_layers, N, Hout)
def compute(self, inputs, role):
states = inputs["states"]
terminated = inputs.get("terminated", None)
hidden_states = inputs["rnn"][0]
# training
if self.training:
rnn_input = states.view(-1, self.sequence_length, states.shape[-1]) # (N, L, Hin): N=batch_size, L=sequence_length
hidden_states = hidden_states.view(self.num_layers, -1, self.sequence_length, hidden_states.shape[-1]) # (D * num_layers, N, L, Hout)
# get the hidden states corresponding to the initial sequence
hidden_states = hidden_states[:,:,0,:].contiguous() # (D * num_layers, N, Hout)
# reset the RNN state in the middle of a sequence
if terminated is not None and torch.any(terminated):
rnn_outputs = []
terminated = terminated.view(-1, self.sequence_length)
indexes = [0] + (terminated[:,:-1].any(dim=0).nonzero(as_tuple=True)[0] + 1).tolist() + [self.sequence_length]
for i in range(len(indexes) - 1):
i0, i1 = indexes[i], indexes[i + 1]
rnn_output, hidden_states = self.gru(rnn_input[:,i0:i1,:], hidden_states)
hidden_states[:, (terminated[:,i1-1]), :] = 0
rnn_outputs.append(rnn_output)
rnn_output = torch.cat(rnn_outputs, dim=1)
# no need to reset the RNN state in the sequence
else:
rnn_output, hidden_states = self.gru(rnn_input, hidden_states)
# rollout
else:
rnn_input = states.view(-1, 1, states.shape[-1]) # (N, L, Hin): N=num_envs, L=1
rnn_output, hidden_states = self.gru(rnn_input, hidden_states)
# flatten the RNN output
rnn_output = torch.flatten(rnn_output, start_dim=0, end_dim=1) # (N, L, D ∗ Hout) -> (N * L, D ∗ Hout)
x = F.relu(self.linear_layer_1(rnn_output))
x = F.relu(self.linear_layer_2(x))
# Pendulum-v1 action_space is -2 to 2
return 2 * torch.tanh(self.action_layer(x)), self.log_std_parameter, {"rnn": [hidden_states]}
class Critic(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
num_envs=1, num_layers=1, hidden_size=400, sequence_length=20):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.num_envs = num_envs
self.num_layers = num_layers
self.hidden_size = hidden_size # Hout
self.sequence_length = sequence_length
self.gru = nn.GRU(input_size=self.num_observations,
hidden_size=self.hidden_size,
num_layers=self.num_layers,
batch_first=True) # batch_first -> (batch, sequence, features)
self.linear_layer_1 = nn.Linear(self.hidden_size + self.num_actions, 400)
self.linear_layer_2 = nn.Linear(400, 300)
self.linear_layer_3 = nn.Linear(300, 1)
def get_specification(self):
# batch size (N) is the number of envs
return {"rnn": {"sequence_length": self.sequence_length,
"sizes": [(self.num_layers, self.num_envs, self.hidden_size)]}} # hidden states (D ∗ num_layers, N, Hout)
def compute(self, inputs, role):
states = inputs["states"]
terminated = inputs.get("terminated", None)
hidden_states = inputs["rnn"][0]
# critic is only used during training
rnn_input = states.view(-1, self.sequence_length, states.shape[-1]) # (N, L, Hin): N=batch_size, L=sequence_length
hidden_states = hidden_states.view(self.num_layers, -1, self.sequence_length, hidden_states.shape[-1]) # (D * num_layers, N, L, Hout)
# get the hidden states corresponding to the initial sequence
sequence_index = 1 if role in ["target_critic_1", "target_critic_2"] else 0 # target networks act on the next state of the environment
hidden_states = hidden_states[:,:,sequence_index,:].contiguous() # (D * num_layers, N, Hout)
# reset the RNN state in the middle of a sequence
if terminated is not None and torch.any(terminated):
rnn_outputs = []
terminated = terminated.view(-1, self.sequence_length)
indexes = [0] + (terminated[:,:-1].any(dim=0).nonzero(as_tuple=True)[0] + 1).tolist() + [self.sequence_length]
for i in range(len(indexes) - 1):
i0, i1 = indexes[i], indexes[i + 1]
rnn_output, hidden_states = self.gru(rnn_input[:,i0:i1,:], hidden_states)
hidden_states[:, (terminated[:,i1-1]), :] = 0
rnn_outputs.append(rnn_output)
rnn_output = torch.cat(rnn_outputs, dim=1)
# no need to reset the RNN state in the sequence
else:
rnn_output, hidden_states = self.gru(rnn_input, hidden_states)
# flatten the RNN output
rnn_output = torch.flatten(rnn_output, start_dim=0, end_dim=1) # (N, L, D ∗ Hout) -> (N * L, D ∗ Hout)
x = F.relu(self.linear_layer_1(torch.cat([rnn_output, inputs["taken_actions"]], dim=1)))
x = F.relu(self.linear_layer_2(x))
return self.linear_layer_3(x), {"rnn": [hidden_states]}
# environment observation wrapper used to mask velocity. Adapted from rl_zoo3 (rl_zoo3/wrappers.py)
class NoVelocityWrapper(gym.ObservationWrapper):
def observation(self, observation):
# observation: x, y, angular velocity
return observation * np.array([1, 1, 0])
gym.envs.registration.register(id="PendulumNoVel-v1", entry_point=lambda: NoVelocityWrapper(gym.make("Pendulum-v1")))
# load and wrap the gym environment
env = gym.make("PendulumNoVel-v1")
env = wrap_env(env)
device = env.device
# instantiate a memory as experience replay
memory = RandomMemory(memory_size=20000, num_envs=env.num_envs, device=device, replacement=False)
# instantiate the agent's models (function approximators).
# SAC requires 5 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/sac.html#models
models = {}
models["policy"] = Actor(env.observation_space, env.action_space, device, clip_actions=True, num_envs=env.num_envs)
models["critic_1"] = Critic(env.observation_space, env.action_space, device, num_envs=env.num_envs)
models["critic_2"] = Critic(env.observation_space, env.action_space, device, num_envs=env.num_envs)
models["target_critic_1"] = Critic(env.observation_space, env.action_space, device, num_envs=env.num_envs)
models["target_critic_2"] = Critic(env.observation_space, env.action_space, device, num_envs=env.num_envs)
# initialize models' parameters (weights and biases)
for model in models.values():
model.init_parameters(method_name="normal_", mean=0.0, std=0.1)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/sac.html#configuration-and-hyperparameters
cfg = SAC_DEFAULT_CONFIG.copy()
cfg["discount_factor"] = 0.98
cfg["batch_size"] = 100
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 1000
cfg["learn_entropy"] = True
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 75
cfg["experiment"]["checkpoint_interval"] = 750
cfg["experiment"]["directory"] = "runs/torch/PendulumNoVel"
agent = SAC(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 15000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 9,916 | Python | 44.490825 | 146 | 0.637455 |
Toni-SM/skrl/docs/source/examples/gym/torch_gym_pendulum_ddpg.py | import gym
import torch
import torch.nn as nn
import torch.nn.functional as F
# import the skrl components to build the RL system
from skrl.agents.torch.ddpg import DDPG, DDPG_DEFAULT_CONFIG
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, Model
from skrl.resources.noises.torch import OrnsteinUhlenbeckNoise
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (deterministic models) using mixin
class Actor(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.linear_layer_1 = nn.Linear(self.num_observations, 400)
self.linear_layer_2 = nn.Linear(400, 300)
self.action_layer = nn.Linear(300, self.num_actions)
def compute(self, inputs, role):
x = F.relu(self.linear_layer_1(inputs["states"]))
x = F.relu(self.linear_layer_2(x))
# Pendulum-v1 action_space is -2 to 2
return 2 * torch.tanh(self.action_layer(x)), {}
class Critic(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.linear_layer_1 = nn.Linear(self.num_observations + self.num_actions, 400)
self.linear_layer_2 = nn.Linear(400, 300)
self.linear_layer_3 = nn.Linear(300, 1)
def compute(self, inputs, role):
x = F.relu(self.linear_layer_1(torch.cat([inputs["states"], inputs["taken_actions"]], dim=1)))
x = F.relu(self.linear_layer_2(x))
return self.linear_layer_3(x), {}
# load and wrap the gym environment.
# note: the environment version may change depending on the gym version
try:
env = gym.make("Pendulum-v1")
except gym.error.DeprecatedEnv as e:
env_id = [spec.id for spec in gym.envs.registry.all() if spec.id.startswith("Pendulum-v")][0]
print("Pendulum-v1 not found. Trying {}".format(env_id))
env = gym.make(env_id)
env = wrap_env(env)
device = env.device
# instantiate a memory as experience replay
memory = RandomMemory(memory_size=15000, num_envs=env.num_envs, device=device, replacement=False)
# instantiate the agent's models (function approximators).
# DDPG requires 4 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ddpg.html#models
models = {}
models["policy"] = Actor(env.observation_space, env.action_space, device)
models["target_policy"] = Actor(env.observation_space, env.action_space, device)
models["critic"] = Critic(env.observation_space, env.action_space, device)
models["target_critic"] = Critic(env.observation_space, env.action_space, device)
# initialize models' parameters (weights and biases)
for model in models.values():
model.init_parameters(method_name="normal_", mean=0.0, std=0.1)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ddpg.html#configuration-and-hyperparameters
cfg = DDPG_DEFAULT_CONFIG.copy()
cfg["exploration"]["noise"] = OrnsteinUhlenbeckNoise(theta=0.15, sigma=0.1, base_scale=1.0, device=device)
cfg["batch_size"] = 100
cfg["random_timesteps"] = 100
cfg["learning_starts"] = 100
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 75
cfg["experiment"]["checkpoint_interval"] = 750
cfg["experiment"]["directory"] = "runs/torch/Pendulum"
agent = DDPG(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 15000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 4,202 | Python | 37.559633 | 106 | 0.71109 |
Toni-SM/skrl/docs/source/examples/gym/torch_gym_pendulumnovel_trpo.py | import gym
import numpy as np
import torch
import torch.nn as nn
# import the skrl components to build the RL system
from skrl.agents.torch.trpo import TRPO, TRPO_DEFAULT_CONFIG
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class Policy(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum"):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
self.net = nn.Sequential(nn.Linear(self.num_observations, 64),
nn.ReLU(),
nn.Linear(64, 64),
nn.ReLU(),
nn.Linear(64, self.num_actions))
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
def compute(self, inputs, role):
# Pendulum-v1 action_space is -2 to 2
return 2 * torch.tanh(self.net(inputs["states"])), self.log_std_parameter, {}
class Value(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations, 64),
nn.ReLU(),
nn.Linear(64, 64),
nn.ReLU(),
nn.Linear(64, 1))
def compute(self, inputs, role):
return self.net(inputs["states"]), {}
# environment observation wrapper used to mask velocity. Adapted from rl_zoo3 (rl_zoo3/wrappers.py)
class NoVelocityWrapper(gym.ObservationWrapper):
def observation(self, observation):
# observation: x, y, angular velocity
return observation * np.array([1, 1, 0])
gym.envs.registration.register(id="PendulumNoVel-v1", entry_point=lambda: NoVelocityWrapper(gym.make("Pendulum-v1")))
# load and wrap the gym environment
env = gym.vector.make("PendulumNoVel-v1", num_envs=4, asynchronous=False)
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=1024, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# TRPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/trpo.html#models
models = {}
models["policy"] = Policy(env.observation_space, env.action_space, device, clip_actions=True)
models["value"] = Value(env.observation_space, env.action_space, device)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/trpo.html#configuration-and-hyperparameters
cfg = TRPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 1024 # memory_size
cfg["learning_epochs"] = 10
cfg["mini_batches"] = 32
cfg["discount_factor"] = 0.99
cfg["lambda"] = 0.95
cfg["learning_rate"] = 1e-3
cfg["grad_norm_clip"] = 0.5
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 500
cfg["experiment"]["checkpoint_interval"] = 5000
cfg["experiment"]["directory"] = "runs/torch/PendulumNoVel"
agent = TRPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 100000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 4,514 | Python | 38.605263 | 117 | 0.677448 |
Toni-SM/skrl/docs/source/examples/gym/torch_gym_pendulum_ppo.py | import gym
import torch
import torch.nn as nn
# import the skrl components to build the RL system
from skrl.agents.torch.ppo import PPO, PPO_DEFAULT_CONFIG
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.resources.schedulers.torch import KLAdaptiveRL
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class Policy(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum"):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
self.net = nn.Sequential(nn.Linear(self.num_observations, 64),
nn.ReLU(),
nn.Linear(64, 64),
nn.ReLU(),
nn.Linear(64, self.num_actions))
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
def compute(self, inputs, role):
# Pendulum-v1 action_space is -2 to 2
return 2 * torch.tanh(self.net(inputs["states"])), self.log_std_parameter, {}
class Value(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations, 64),
nn.ReLU(),
nn.Linear(64, 64),
nn.ReLU(),
nn.Linear(64, 1))
def compute(self, inputs, role):
return self.net(inputs["states"]), {}
# load and wrap the gym environment.
# note: the environment version may change depending on the gym version
try:
env = gym.vector.make("Pendulum-v1", num_envs=4, asynchronous=False)
except gym.error.DeprecatedEnv as e:
env_id = [spec.id for spec in gym.envs.registry.all() if spec.id.startswith("Pendulum-v")][0]
print("Pendulum-v1 not found. Trying {}".format(env_id))
env = gym.vector.make(env_id, num_envs=4, asynchronous=False)
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=1024, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# PPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#models
models = {}
models["policy"] = Policy(env.observation_space, env.action_space, device, clip_actions=True)
models["value"] = Value(env.observation_space, env.action_space, device)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#configuration-and-hyperparameters
cfg = PPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 1024 # memory_size
cfg["learning_epochs"] = 10
cfg["mini_batches"] = 32
cfg["discount_factor"] = 0.9
cfg["lambda"] = 0.95
cfg["learning_rate"] = 1e-3
cfg["learning_rate_scheduler"] = KLAdaptiveRL
cfg["learning_rate_scheduler_kwargs"] = {"kl_threshold": 0.008}
cfg["grad_norm_clip"] = 0.5
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = False
cfg["entropy_loss_scale"] = 0.0
cfg["value_loss_scale"] = 0.5
cfg["kl_threshold"] = 0
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 500
cfg["experiment"]["checkpoint_interval"] = 5000
cfg["experiment"]["directory"] = "runs/torch/Pendulum"
agent = PPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 100000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 4,749 | Python | 38.583333 | 101 | 0.6753 |
Toni-SM/skrl/docs/source/examples/gym/torch_gym_pendulum_td3.py | import gym
import torch
import torch.nn as nn
import torch.nn.functional as F
# import the skrl components to build the RL system
from skrl.agents.torch.td3 import TD3, TD3_DEFAULT_CONFIG
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, Model
from skrl.resources.noises.torch import GaussianNoise
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (deterministic models) using mixin
class Actor(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.linear_layer_1 = nn.Linear(self.num_observations, 400)
self.linear_layer_2 = nn.Linear(400, 300)
self.action_layer = nn.Linear(300, self.num_actions)
def compute(self, inputs, role):
x = F.relu(self.linear_layer_1(inputs["states"]))
x = F.relu(self.linear_layer_2(x))
# Pendulum-v1 action_space is -2 to 2
return 2 * torch.tanh(self.action_layer(x)), {}
class Critic(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.linear_layer_1 = nn.Linear(self.num_observations + self.num_actions, 400)
self.linear_layer_2 = nn.Linear(400, 300)
self.linear_layer_3 = nn.Linear(300, 1)
def compute(self, inputs, role):
x = F.relu(self.linear_layer_1(torch.cat([inputs["states"], inputs["taken_actions"]], dim=1)))
x = F.relu(self.linear_layer_2(x))
return self.linear_layer_3(x), {}
# load and wrap the gym environment.
# note: the environment version may change depending on the gym version
try:
env = gym.make("Pendulum-v1")
except gym.error.DeprecatedEnv as e:
env_id = [spec.id for spec in gym.envs.registry.all() if spec.id.startswith("Pendulum-v")][0]
print("Pendulum-v1 not found. Trying {}".format(env_id))
env = gym.make(env_id)
env = wrap_env(env)
device = env.device
# instantiate a memory as experience replay
memory = RandomMemory(memory_size=20000, num_envs=env.num_envs, device=device, replacement=False)
# instantiate the agent's models (function approximators).
# TD3 requires 6 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/td3.html#models
models = {}
models["policy"] = Actor(env.observation_space, env.action_space, device)
models["target_policy"] = Actor(env.observation_space, env.action_space, device)
models["critic_1"] = Critic(env.observation_space, env.action_space, device)
models["critic_2"] = Critic(env.observation_space, env.action_space, device)
models["target_critic_1"] = Critic(env.observation_space, env.action_space, device)
models["target_critic_2"] = Critic(env.observation_space, env.action_space, device)
# initialize models' parameters (weights and biases)
for model in models.values():
model.init_parameters(method_name="normal_", mean=0.0, std=0.1)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/td3.html#configuration-and-hyperparameters
cfg = TD3_DEFAULT_CONFIG.copy()
cfg["exploration"]["noise"] = GaussianNoise(0, 0.1, device=device)
cfg["smooth_regularization_noise"] = GaussianNoise(0, 0.2, device=device)
cfg["smooth_regularization_clip"] = 0.5
cfg["discount_factor"] = 0.98
cfg["batch_size"] = 100
cfg["random_timesteps"] = 1000
cfg["learning_starts"] = 1000
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 75
cfg["experiment"]["checkpoint_interval"] = 750
cfg["experiment"]["directory"] = "runs/torch/Pendulum"
agent = TD3(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 15000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 4,451 | Python | 38.052631 | 102 | 0.7122 |
Toni-SM/skrl/docs/source/examples/gym/torch_gym_pendulum_sac.py | import gym
import torch
import torch.nn as nn
import torch.nn.functional as F
# import the skrl components to build the RL system
from skrl.agents.torch.sac import SAC, SAC_DEFAULT_CONFIG
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class Actor(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum"):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
self.linear_layer_1 = nn.Linear(self.num_observations, 400)
self.linear_layer_2 = nn.Linear(400, 300)
self.action_layer = nn.Linear(300, self.num_actions)
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
def compute(self, inputs, role):
x = F.relu(self.linear_layer_1(inputs["states"]))
x = F.relu(self.linear_layer_2(x))
# Pendulum-v1 action_space is -2 to 2
return 2 * torch.tanh(self.action_layer(x)), self.log_std_parameter, {}
class Critic(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.linear_layer_1 = nn.Linear(self.num_observations + self.num_actions, 400)
self.linear_layer_2 = nn.Linear(400, 300)
self.linear_layer_3 = nn.Linear(300, 1)
def compute(self, inputs, role):
x = F.relu(self.linear_layer_1(torch.cat([inputs["states"], inputs["taken_actions"]], dim=1)))
x = F.relu(self.linear_layer_2(x))
return self.linear_layer_3(x), {}
# load and wrap the gym environment.
# note: the environment version may change depending on the gym version
try:
env = gym.make("Pendulum-v1")
except gym.error.DeprecatedEnv as e:
env_id = [spec.id for spec in gym.envs.registry.all() if spec.id.startswith("Pendulum-v")][0]
print("Pendulum-v1 not found. Trying {}".format(env_id))
env = gym.make(env_id)
env = wrap_env(env)
device = env.device
# instantiate a memory as experience replay
memory = RandomMemory(memory_size=20000, num_envs=env.num_envs, device=device, replacement=False)
# instantiate the agent's models (function approximators).
# SAC requires 5 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/sac.html#models
models = {}
models["policy"] = Actor(env.observation_space, env.action_space, device, clip_actions=True)
models["critic_1"] = Critic(env.observation_space, env.action_space, device)
models["critic_2"] = Critic(env.observation_space, env.action_space, device)
models["target_critic_1"] = Critic(env.observation_space, env.action_space, device)
models["target_critic_2"] = Critic(env.observation_space, env.action_space, device)
# initialize models' parameters (weights and biases)
for model in models.values():
model.init_parameters(method_name="normal_", mean=0.0, std=0.1)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/sac.html#configuration-and-hyperparameters
cfg = SAC_DEFAULT_CONFIG.copy()
cfg["discount_factor"] = 0.98
cfg["batch_size"] = 100
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 1000
cfg["learn_entropy"] = True
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 75
cfg["experiment"]["checkpoint_interval"] = 750
cfg["experiment"]["directory"] = "runs/torch/Pendulum"
agent = SAC(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 15000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 4,438 | Python | 38.283186 | 102 | 0.706174 |
Toni-SM/skrl/docs/source/examples/gym/torch_gym_pendulumnovel_ddpg_lstm.py | import gym
import numpy as np
import torch
import torch.nn as nn
import torch.nn.functional as F
# import the skrl components to build the RL system
from skrl.agents.torch.ddpg import DDPG_DEFAULT_CONFIG
from skrl.agents.torch.ddpg import DDPG_RNN as DDPG
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, Model
from skrl.resources.noises.torch import OrnsteinUhlenbeckNoise
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (deterministic models) using mixin
class Actor(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
num_envs=1, num_layers=1, hidden_size=400, sequence_length=20):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.num_envs = num_envs
self.num_layers = num_layers
self.hidden_size = hidden_size # Hcell (Hout is Hcell because proj_size = 0)
self.sequence_length = sequence_length
self.lstm = nn.LSTM(input_size=self.num_observations,
hidden_size=self.hidden_size,
num_layers=self.num_layers,
batch_first=True) # batch_first -> (batch, sequence, features)
self.linear_layer_1 = nn.Linear(self.hidden_size, 400)
self.linear_layer_2 = nn.Linear(400, 300)
self.action_layer = nn.Linear(300, self.num_actions)
def get_specification(self):
# batch size (N) is the number of envs
return {"rnn": {"sequence_length": self.sequence_length,
"sizes": [(self.num_layers, self.num_envs, self.hidden_size), # hidden states (D ∗ num_layers, N, Hout)
(self.num_layers, self.num_envs, self.hidden_size)]}} # cell states (D ∗ num_layers, N, Hcell)
def compute(self, inputs, role):
states = inputs["states"]
terminated = inputs.get("terminated", None)
hidden_states, cell_states = inputs["rnn"][0], inputs["rnn"][1]
# training
if self.training:
rnn_input = states.view(-1, self.sequence_length, states.shape[-1]) # (N, L, Hin): N=batch_size, L=sequence_length
hidden_states = hidden_states.view(self.num_layers, -1, self.sequence_length, hidden_states.shape[-1]) # (D * num_layers, N, L, Hout)
cell_states = cell_states.view(self.num_layers, -1, self.sequence_length, cell_states.shape[-1]) # (D * num_layers, N, L, Hcell)
# get the hidden/cell states corresponding to the initial sequence
sequence_index = 1 if role == "target_policy" else 0 # target networks act on the next state of the environment
hidden_states = hidden_states[:,:,sequence_index,:].contiguous() # (D * num_layers, N, Hout)
cell_states = cell_states[:,:,sequence_index,:].contiguous() # (D * num_layers, N, Hcell)
# reset the RNN state in the middle of a sequence
if terminated is not None and torch.any(terminated):
rnn_outputs = []
terminated = terminated.view(-1, self.sequence_length)
indexes = [0] + (terminated[:,:-1].any(dim=0).nonzero(as_tuple=True)[0] + 1).tolist() + [self.sequence_length]
for i in range(len(indexes) - 1):
i0, i1 = indexes[i], indexes[i + 1]
rnn_output, (hidden_states, cell_states) = self.lstm(rnn_input[:,i0:i1,:], (hidden_states, cell_states))
hidden_states[:, (terminated[:,i1-1]), :] = 0
cell_states[:, (terminated[:,i1-1]), :] = 0
rnn_outputs.append(rnn_output)
rnn_states = (hidden_states, cell_states)
rnn_output = torch.cat(rnn_outputs, dim=1)
# no need to reset the RNN state in the sequence
else:
rnn_output, rnn_states = self.lstm(rnn_input, (hidden_states, cell_states))
# rollout
else:
rnn_input = states.view(-1, 1, states.shape[-1]) # (N, L, Hin): N=num_envs, L=1
rnn_output, rnn_states = self.lstm(rnn_input, (hidden_states, cell_states))
# flatten the RNN output
rnn_output = torch.flatten(rnn_output, start_dim=0, end_dim=1) # (N, L, D ∗ Hout) -> (N * L, D ∗ Hout)
x = F.relu(self.linear_layer_1(rnn_output))
x = F.relu(self.linear_layer_2(x))
# Pendulum-v1 action_space is -2 to 2
return 2 * torch.tanh(self.action_layer(x)), {"rnn": [rnn_states[0], rnn_states[1]]}
class Critic(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
num_envs=1, num_layers=1, hidden_size=400, sequence_length=20):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.num_envs = num_envs
self.num_layers = num_layers
self.hidden_size = hidden_size # Hcell (Hout is Hcell because proj_size = 0)
self.sequence_length = sequence_length
self.lstm = nn.LSTM(input_size=self.num_observations,
hidden_size=self.hidden_size,
num_layers=self.num_layers,
batch_first=True) # batch_first -> (batch, sequence, features)
self.linear_layer_1 = nn.Linear(self.hidden_size + self.num_actions, 400)
self.linear_layer_2 = nn.Linear(400, 300)
self.linear_layer_3 = nn.Linear(300, 1)
def get_specification(self):
# batch size (N) is the number of envs
return {"rnn": {"sequence_length": self.sequence_length,
"sizes": [(self.num_layers, self.num_envs, self.hidden_size), # hidden states (D ∗ num_layers, N, Hout)
(self.num_layers, self.num_envs, self.hidden_size)]}} # cell states (D ∗ num_layers, N, Hcell)
def compute(self, inputs, role):
states = inputs["states"]
terminated = inputs.get("terminated", None)
hidden_states, cell_states = inputs["rnn"][0], inputs["rnn"][1]
# critic is only used during training
rnn_input = states.view(-1, self.sequence_length, states.shape[-1]) # (N, L, Hin): N=batch_size, L=sequence_length
hidden_states = hidden_states.view(self.num_layers, -1, self.sequence_length, hidden_states.shape[-1]) # (D * num_layers, N, L, Hout)
cell_states = cell_states.view(self.num_layers, -1, self.sequence_length, cell_states.shape[-1]) # (D * num_layers, N, L, Hcell)
# get the hidden/cell states corresponding to the initial sequence
sequence_index = 1 if role == "target_critic" else 0 # target networks act on the next state of the environment
hidden_states = hidden_states[:,:,sequence_index,:].contiguous() # (D * num_layers, N, Hout)
cell_states = cell_states[:,:,sequence_index,:].contiguous() # (D * num_layers, N, Hcell)
# reset the RNN state in the middle of a sequence
if terminated is not None and torch.any(terminated):
rnn_outputs = []
terminated = terminated.view(-1, self.sequence_length)
indexes = [0] + (terminated[:,:-1].any(dim=0).nonzero(as_tuple=True)[0] + 1).tolist() + [self.sequence_length]
for i in range(len(indexes) - 1):
i0, i1 = indexes[i], indexes[i + 1]
rnn_output, (hidden_states, cell_states) = self.lstm(rnn_input[:,i0:i1,:], (hidden_states, cell_states))
hidden_states[:, (terminated[:,i1-1]), :] = 0
cell_states[:, (terminated[:,i1-1]), :] = 0
rnn_outputs.append(rnn_output)
rnn_states = (hidden_states, cell_states)
rnn_output = torch.cat(rnn_outputs, dim=1)
# no need to reset the RNN state in the sequence
else:
rnn_output, rnn_states = self.lstm(rnn_input, (hidden_states, cell_states))
# flatten the RNN output
rnn_output = torch.flatten(rnn_output, start_dim=0, end_dim=1) # (N, L, D ∗ Hout) -> (N * L, D ∗ Hout)
x = F.relu(self.linear_layer_1(torch.cat([rnn_output, inputs["taken_actions"]], dim=1)))
x = F.relu(self.linear_layer_2(x))
return self.linear_layer_3(x), {"rnn": [rnn_states[0], rnn_states[1]]}
# environment observation wrapper used to mask velocity. Adapted from rl_zoo3 (rl_zoo3/wrappers.py)
class NoVelocityWrapper(gym.ObservationWrapper):
def observation(self, observation):
# observation: x, y, angular velocity
return observation * np.array([1, 1, 0])
gym.envs.registration.register(id="PendulumNoVel-v1", entry_point=lambda: NoVelocityWrapper(gym.make("Pendulum-v1")))
# load and wrap the gym environment
env = gym.make("PendulumNoVel-v1")
env = wrap_env(env)
device = env.device
# instantiate a memory as experience replay
memory = RandomMemory(memory_size=20000, num_envs=env.num_envs, device=device, replacement=False)
# instantiate the agent's models (function approximators).
# DDPG requires 4 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ddpg.html#models
models = {}
models["policy"] = Actor(env.observation_space, env.action_space, device, num_envs=env.num_envs)
models["target_policy"] = Actor(env.observation_space, env.action_space, device, num_envs=env.num_envs)
models["critic"] = Critic(env.observation_space, env.action_space, device, num_envs=env.num_envs)
models["target_critic"] = Critic(env.observation_space, env.action_space, device, num_envs=env.num_envs)
# initialize models' parameters (weights and biases)
for model in models.values():
model.init_parameters(method_name="normal_", mean=0.0, std=0.1)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ddpg.html#configuration-and-hyperparameters
cfg = DDPG_DEFAULT_CONFIG.copy()
cfg["exploration"]["noise"] = OrnsteinUhlenbeckNoise(theta=0.15, sigma=0.1, base_scale=1.0, device=device)
cfg["discount_factor"] = 0.98
cfg["batch_size"] = 100
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 1000
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 75
cfg["experiment"]["checkpoint_interval"] = 750
cfg["experiment"]["directory"] = "runs/torch/PendulumNoVel"
agent = DDPG(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 15000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 11,082 | Python | 48.039823 | 146 | 0.630121 |
Toni-SM/skrl/docs/source/examples/gym/torch_gym_pendulumnovel_ppo_gru.py | import gym
import numpy as np
import torch
import torch.nn as nn
# import the skrl components to build the RL system
from skrl.agents.torch.ppo import PPO_DEFAULT_CONFIG
from skrl.agents.torch.ppo import PPO_RNN as PPO
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.resources.schedulers.torch import KLAdaptiveRL
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class Policy(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum",
num_envs=1, num_layers=1, hidden_size=64, sequence_length=128):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
self.num_envs = num_envs
self.num_layers = num_layers
self.hidden_size = hidden_size # Hout
self.sequence_length = sequence_length
self.gru = nn.GRU(input_size=self.num_observations,
hidden_size=self.hidden_size,
num_layers=self.num_layers,
batch_first=True) # batch_first -> (batch, sequence, features)
self.net = nn.Sequential(nn.Linear(self.hidden_size, 64),
nn.ReLU(),
nn.Linear(64, self.num_actions))
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
def get_specification(self):
# batch size (N) is the number of envs
return {"rnn": {"sequence_length": self.sequence_length,
"sizes": [(self.num_layers, self.num_envs, self.hidden_size)]}} # hidden states (D ∗ num_layers, N, Hout)
def compute(self, inputs, role):
states = inputs["states"]
terminated = inputs.get("terminated", None)
hidden_states = inputs["rnn"][0]
# training
if self.training:
rnn_input = states.view(-1, self.sequence_length, states.shape[-1]) # (N, L, Hin): N=batch_size, L=sequence_length
hidden_states = hidden_states.view(self.num_layers, -1, self.sequence_length, hidden_states.shape[-1]) # (D * num_layers, N, L, Hout)
# get the hidden states corresponding to the initial sequence
hidden_states = hidden_states[:,:,0,:].contiguous() # (D * num_layers, N, Hout)
# reset the RNN state in the middle of a sequence
if terminated is not None and torch.any(terminated):
rnn_outputs = []
terminated = terminated.view(-1, self.sequence_length)
indexes = [0] + (terminated[:,:-1].any(dim=0).nonzero(as_tuple=True)[0] + 1).tolist() + [self.sequence_length]
for i in range(len(indexes) - 1):
i0, i1 = indexes[i], indexes[i + 1]
rnn_output, hidden_states = self.gru(rnn_input[:,i0:i1,:], hidden_states)
hidden_states[:, (terminated[:,i1-1]), :] = 0
rnn_outputs.append(rnn_output)
rnn_output = torch.cat(rnn_outputs, dim=1)
# no need to reset the RNN state in the sequence
else:
rnn_output, hidden_states = self.gru(rnn_input, hidden_states)
# rollout
else:
rnn_input = states.view(-1, 1, states.shape[-1]) # (N, L, Hin): N=num_envs, L=1
rnn_output, hidden_states = self.gru(rnn_input, hidden_states)
# flatten the RNN output
rnn_output = torch.flatten(rnn_output, start_dim=0, end_dim=1) # (N, L, D ∗ Hout) -> (N * L, D ∗ Hout)
# Pendulum-v1 action_space is -2 to 2
return 2 * torch.tanh(self.net(rnn_output)), self.log_std_parameter, {"rnn": [hidden_states]}
class Value(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
num_envs=1, num_layers=1, hidden_size=64, sequence_length=128):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.num_envs = num_envs
self.num_layers = num_layers
self.hidden_size = hidden_size # Hout
self.sequence_length = sequence_length
self.gru = nn.GRU(input_size=self.num_observations,
hidden_size=self.hidden_size,
num_layers=self.num_layers,
batch_first=True) # batch_first -> (batch, sequence, features)
self.net = nn.Sequential(nn.Linear(self.hidden_size, 64),
nn.ReLU(),
nn.Linear(64, 1))
def get_specification(self):
# batch size (N) is the number of envs
return {"rnn": {"sequence_length": self.sequence_length,
"sizes": [(self.num_layers, self.num_envs, self.hidden_size)]}} # hidden states (D ∗ num_layers, N, Hout)
def compute(self, inputs, role):
states = inputs["states"]
terminated = inputs.get("terminated", None)
hidden_states = inputs["rnn"][0]
# training
if self.training:
rnn_input = states.view(-1, self.sequence_length, states.shape[-1]) # (N, L, Hin): N=batch_size, L=sequence_length
hidden_states = hidden_states.view(self.num_layers, -1, self.sequence_length, hidden_states.shape[-1]) # (D * num_layers, N, L, Hout)
# get the hidden states corresponding to the initial sequence
hidden_states = hidden_states[:,:,0,:].contiguous() # (D * num_layers, N, Hout)
# reset the RNN state in the middle of a sequence
if terminated is not None and torch.any(terminated):
rnn_outputs = []
terminated = terminated.view(-1, self.sequence_length)
indexes = [0] + (terminated[:,:-1].any(dim=0).nonzero(as_tuple=True)[0] + 1).tolist() + [self.sequence_length]
for i in range(len(indexes) - 1):
i0, i1 = indexes[i], indexes[i + 1]
rnn_output, hidden_states = self.gru(rnn_input[:,i0:i1,:], hidden_states)
hidden_states[:, (terminated[:,i1-1]), :] = 0
rnn_outputs.append(rnn_output)
rnn_output = torch.cat(rnn_outputs, dim=1)
# no need to reset the RNN state in the sequence
else:
rnn_output, hidden_states = self.gru(rnn_input, hidden_states)
# rollout
else:
rnn_input = states.view(-1, 1, states.shape[-1]) # (N, L, Hin): N=num_envs, L=1
rnn_output, hidden_states = self.gru(rnn_input, hidden_states)
# flatten the RNN output
rnn_output = torch.flatten(rnn_output, start_dim=0, end_dim=1) # (N, L, D ∗ Hout) -> (N * L, D ∗ Hout)
return self.net(rnn_output), {"rnn": [hidden_states]}
# environment observation wrapper used to mask velocity. Adapted from rl_zoo3 (rl_zoo3/wrappers.py)
class NoVelocityWrapper(gym.ObservationWrapper):
def observation(self, observation):
# observation: x, y, angular velocity
return observation * np.array([1, 1, 0])
gym.envs.registration.register(id="PendulumNoVel-v1", entry_point=lambda: NoVelocityWrapper(gym.make("Pendulum-v1")))
# load and wrap the gym environment
env = gym.vector.make("PendulumNoVel-v1", num_envs=4, asynchronous=False)
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=1024, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# PPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#models
models = {}
models["policy"] = Policy(env.observation_space, env.action_space, device, clip_actions=True, num_envs=env.num_envs)
models["value"] = Value(env.observation_space, env.action_space, device, num_envs=env.num_envs)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#configuration-and-hyperparameters
cfg = PPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 1024 # memory_size
cfg["learning_epochs"] = 10
cfg["mini_batches"] = 32
cfg["discount_factor"] = 0.9
cfg["lambda"] = 0.95
cfg["learning_rate"] = 1e-3
cfg["learning_rate_scheduler"] = KLAdaptiveRL
cfg["learning_rate_scheduler_kwargs"] = {"kl_threshold": 0.008}
cfg["grad_norm_clip"] = 0.5
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = False
cfg["entropy_loss_scale"] = 0.0
cfg["value_loss_scale"] = 0.5
cfg["kl_threshold"] = 0
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 500
cfg["experiment"]["checkpoint_interval"] = 5000
cfg["experiment"]["directory"] = "runs/torch/PendulumNoVel"
agent = PPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 100000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 10,039 | Python | 44.022421 | 146 | 0.623767 |
Toni-SM/skrl/docs/source/examples/gym/torch_gym_taxi_sarsa.py | import gym
import torch
# import the skrl components to build the RL system
from skrl.agents.torch.sarsa import SARSA, SARSA_DEFAULT_CONFIG
from skrl.envs.wrappers.torch import wrap_env
from skrl.models.torch import Model, TabularMixin
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define model (tabular model) using mixin
class EpilonGreedyPolicy(TabularMixin, Model):
def __init__(self, observation_space, action_space, device, num_envs=1, epsilon=0.1):
Model.__init__(self, observation_space, action_space, device)
TabularMixin.__init__(self, num_envs)
self.epsilon = epsilon
self.q_table = torch.ones((num_envs, self.num_observations, self.num_actions),
dtype=torch.float32, device=self.device)
def compute(self, inputs, role):
actions = torch.argmax(self.q_table[torch.arange(self.num_envs).view(-1, 1), inputs["states"]],
dim=-1, keepdim=True).view(-1,1)
# choose random actions for exploration according to epsilon
indexes = (torch.rand(inputs["states"].shape[0], device=self.device) < self.epsilon).nonzero().view(-1)
if indexes.numel():
actions[indexes] = torch.randint(self.num_actions, (indexes.numel(), 1), device=self.device)
return actions, {}
# load and wrap the gym environment.
# note: the environment version may change depending on the gym version
try:
env = gym.make("Taxi-v3")
except gym.error.DeprecatedEnv as e:
env_id = [spec.id for spec in gym.envs.registry.all() if spec.id.startswith("Taxi-v")][0]
print("Taxi-v3 not found. Trying {}".format(env_id))
env = gym.make(env_id)
env = wrap_env(env)
device = env.device
# instantiate the agent's model (table)
# SARSA requires 1 model, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/sarsa.html#models
models = {}
models["policy"] = EpilonGreedyPolicy(env.observation_space, env.action_space, device, num_envs=env.num_envs, epsilon=0.1)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/sarsa.html#configuration-and-hyperparameters
cfg = SARSA_DEFAULT_CONFIG.copy()
cfg["discount_factor"] = 0.999
cfg["alpha"] = 0.4
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 1600
cfg["experiment"]["checkpoint_interval"] = 8000
cfg["experiment"]["directory"] = "runs/torch/Taxi"
agent = SARSA(models=models,
memory=None,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 80000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 3,037 | Python | 36.04878 | 122 | 0.690155 |
Toni-SM/skrl/docs/source/examples/gym/torch_gym_pendulumnovel_ppo.py | import gym
import numpy as np
import torch
import torch.nn as nn
# import the skrl components to build the RL system
from skrl.agents.torch.ppo import PPO, PPO_DEFAULT_CONFIG
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.resources.schedulers.torch import KLAdaptiveRL
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class Policy(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum"):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
self.net = nn.Sequential(nn.Linear(self.num_observations, 64),
nn.ReLU(),
nn.Linear(64, 64),
nn.ReLU(),
nn.Linear(64, self.num_actions))
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
def compute(self, inputs, role):
# Pendulum-v1 action_space is -2 to 2
return 2 * torch.tanh(self.net(inputs["states"])), self.log_std_parameter, {}
class Value(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations, 64),
nn.ReLU(),
nn.Linear(64, 64),
nn.ReLU(),
nn.Linear(64, 1))
def compute(self, inputs, role):
return self.net(inputs["states"]), {}
# environment observation wrapper used to mask velocity. Adapted from rl_zoo3 (rl_zoo3/wrappers.py)
class NoVelocityWrapper(gym.ObservationWrapper):
def observation(self, observation):
# observation: x, y, angular velocity
return observation * np.array([1, 1, 0])
gym.envs.registration.register(id="PendulumNoVel-v1", entry_point=lambda: NoVelocityWrapper(gym.make("Pendulum-v1")))
# load and wrap the gym environment
env = gym.vector.make("PendulumNoVel-v1", num_envs=4, asynchronous=False)
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=1024, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# PPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#models
models = {}
models["policy"] = Policy(env.observation_space, env.action_space, device, clip_actions=True)
models["value"] = Value(env.observation_space, env.action_space, device)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#configuration-and-hyperparameters
cfg = PPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 1024 # memory_size
cfg["learning_epochs"] = 10
cfg["mini_batches"] = 32
cfg["discount_factor"] = 0.9
cfg["lambda"] = 0.95
cfg["learning_rate"] = 1e-3
cfg["learning_rate_scheduler"] = KLAdaptiveRL
cfg["learning_rate_scheduler_kwargs"] = {"kl_threshold": 0.008}
cfg["grad_norm_clip"] = 0.5
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = False
cfg["entropy_loss_scale"] = 0.0
cfg["value_loss_scale"] = 0.5
cfg["kl_threshold"] = 0
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 500
cfg["experiment"]["checkpoint_interval"] = 5000
cfg["experiment"]["directory"] = "runs/torch/PendulumNoVel"
agent = PPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 100000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 4,838 | Python | 38.341463 | 117 | 0.680033 |
Toni-SM/skrl/docs/source/examples/gym/torch_gym_pendulumnovel_ddpg_rnn.py | import gym
import numpy as np
import torch
import torch.nn as nn
import torch.nn.functional as F
# import the skrl components to build the RL system
from skrl.agents.torch.ddpg import DDPG_DEFAULT_CONFIG
from skrl.agents.torch.ddpg import DDPG_RNN as DDPG
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, Model
from skrl.resources.noises.torch import OrnsteinUhlenbeckNoise
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (deterministic models) using mixin
class Actor(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
num_envs=1, num_layers=1, hidden_size=400, sequence_length=20):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.num_envs = num_envs
self.num_layers = num_layers
self.hidden_size = hidden_size # Hout
self.sequence_length = sequence_length
self.rnn = nn.RNN(input_size=self.num_observations,
hidden_size=self.hidden_size,
num_layers=self.num_layers,
batch_first=True) # batch_first -> (batch, sequence, features)
self.linear_layer_1 = nn.Linear(self.hidden_size, 400)
self.linear_layer_2 = nn.Linear(400, 300)
self.action_layer = nn.Linear(300, self.num_actions)
def get_specification(self):
# batch size (N) is the number of envs
return {"rnn": {"sequence_length": self.sequence_length,
"sizes": [(self.num_layers, self.num_envs, self.hidden_size)]}} # hidden states (D ∗ num_layers, N, Hout)
def compute(self, inputs, role):
states = inputs["states"]
terminated = inputs.get("terminated", None)
hidden_states = inputs["rnn"][0]
# training
if self.training:
rnn_input = states.view(-1, self.sequence_length, states.shape[-1]) # (N, L, Hin): N=batch_size, L=sequence_length
hidden_states = hidden_states.view(self.num_layers, -1, self.sequence_length, hidden_states.shape[-1]) # (D * num_layers, N, L, Hout)
# get the hidden states corresponding to the initial sequence
sequence_index = 1 if role == "target_policy" else 0 # target networks act on the next state of the environment
hidden_states = hidden_states[:,:,sequence_index,:].contiguous() # (D * num_layers, N, Hout)
# reset the RNN state in the middle of a sequence
if terminated is not None and torch.any(terminated):
rnn_outputs = []
terminated = terminated.view(-1, self.sequence_length)
indexes = [0] + (terminated[:,:-1].any(dim=0).nonzero(as_tuple=True)[0] + 1).tolist() + [self.sequence_length]
for i in range(len(indexes) - 1):
i0, i1 = indexes[i], indexes[i + 1]
rnn_output, hidden_states = self.rnn(rnn_input[:,i0:i1,:], hidden_states)
hidden_states[:, (terminated[:,i1-1]), :] = 0
rnn_outputs.append(rnn_output)
rnn_output = torch.cat(rnn_outputs, dim=1)
# no need to reset the RNN state in the sequence
else:
rnn_output, hidden_states = self.rnn(rnn_input, hidden_states)
# rollout
else:
rnn_input = states.view(-1, 1, states.shape[-1]) # (N, L, Hin): N=num_envs, L=1
rnn_output, hidden_states = self.rnn(rnn_input, hidden_states)
# flatten the RNN output
rnn_output = torch.flatten(rnn_output, start_dim=0, end_dim=1) # (N, L, D ∗ Hout) -> (N * L, D ∗ Hout)
x = F.relu(self.linear_layer_1(rnn_output))
x = F.relu(self.linear_layer_2(x))
# Pendulum-v1 action_space is -2 to 2
return 2 * torch.tanh(self.action_layer(x)), {"rnn": [hidden_states]}
class Critic(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
num_envs=1, num_layers=1, hidden_size=400, sequence_length=20):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.num_envs = num_envs
self.num_layers = num_layers
self.hidden_size = hidden_size # Hout
self.sequence_length = sequence_length
self.rnn = nn.RNN(input_size=self.num_observations,
hidden_size=self.hidden_size,
num_layers=self.num_layers,
batch_first=True) # batch_first -> (batch, sequence, features)
self.linear_layer_1 = nn.Linear(self.hidden_size + self.num_actions, 400)
self.linear_layer_2 = nn.Linear(400, 300)
self.linear_layer_3 = nn.Linear(300, 1)
def get_specification(self):
# batch size (N) is the number of envs
return {"rnn": {"sequence_length": self.sequence_length,
"sizes": [(self.num_layers, self.num_envs, self.hidden_size)]}} # hidden states (D ∗ num_layers, N, Hout)
def compute(self, inputs, role):
states = inputs["states"]
terminated = inputs.get("terminated", None)
hidden_states = inputs["rnn"][0]
# critic is only used during training
rnn_input = states.view(-1, self.sequence_length, states.shape[-1]) # (N, L, Hin): N=batch_size, L=sequence_length
hidden_states = hidden_states.view(self.num_layers, -1, self.sequence_length, hidden_states.shape[-1]) # (D * num_layers, N, L, Hout)
# get the hidden states corresponding to the initial sequence
sequence_index = 1 if role == "target_critic" else 0 # target networks act on the next state of the environment
hidden_states = hidden_states[:,:,sequence_index,:].contiguous() # (D * num_layers, N, Hout)
# reset the RNN state in the middle of a sequence
if terminated is not None and torch.any(terminated):
rnn_outputs = []
terminated = terminated.view(-1, self.sequence_length)
indexes = [0] + (terminated[:,:-1].any(dim=0).nonzero(as_tuple=True)[0] + 1).tolist() + [self.sequence_length]
for i in range(len(indexes) - 1):
i0, i1 = indexes[i], indexes[i + 1]
rnn_output, hidden_states = self.rnn(rnn_input[:,i0:i1,:], hidden_states)
hidden_states[:, (terminated[:,i1-1]), :] = 0
rnn_outputs.append(rnn_output)
rnn_output = torch.cat(rnn_outputs, dim=1)
# no need to reset the RNN state in the sequence
else:
rnn_output, hidden_states = self.rnn(rnn_input, hidden_states)
# flatten the RNN output
rnn_output = torch.flatten(rnn_output, start_dim=0, end_dim=1) # (N, L, D ∗ Hout) -> (N * L, D ∗ Hout)
x = F.relu(self.linear_layer_1(torch.cat([rnn_output, inputs["taken_actions"]], dim=1)))
x = F.relu(self.linear_layer_2(x))
return self.linear_layer_3(x), {"rnn": [hidden_states]}
# environment observation wrapper used to mask velocity. Adapted from rl_zoo3 (rl_zoo3/wrappers.py)
class NoVelocityWrapper(gym.ObservationWrapper):
def observation(self, observation):
# observation: x, y, angular velocity
return observation * np.array([1, 1, 0])
gym.envs.registration.register(id="PendulumNoVel-v1", entry_point=lambda: NoVelocityWrapper(gym.make("Pendulum-v1")))
# load and wrap the gym environment
env = gym.make("PendulumNoVel-v1")
env = wrap_env(env)
device = env.device
# instantiate a memory as experience replay
memory = RandomMemory(memory_size=20000, num_envs=env.num_envs, device=device, replacement=False)
# instantiate the agent's models (function approximators).
# DDPG requires 4 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ddpg.html#models
models = {}
models["policy"] = Actor(env.observation_space, env.action_space, device, num_envs=env.num_envs)
models["target_policy"] = Actor(env.observation_space, env.action_space, device, num_envs=env.num_envs)
models["critic"] = Critic(env.observation_space, env.action_space, device, num_envs=env.num_envs)
models["target_critic"] = Critic(env.observation_space, env.action_space, device, num_envs=env.num_envs)
# initialize models' parameters (weights and biases)
for model in models.values():
model.init_parameters(method_name="normal_", mean=0.0, std=0.1)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ddpg.html#configuration-and-hyperparameters
cfg = DDPG_DEFAULT_CONFIG.copy()
cfg["exploration"]["noise"] = OrnsteinUhlenbeckNoise(theta=0.15, sigma=0.1, base_scale=1.0, device=device)
cfg["discount_factor"] = 0.98
cfg["batch_size"] = 100
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 1000
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 75
cfg["experiment"]["checkpoint_interval"] = 750
cfg["experiment"]["directory"] = "runs/torch/PendulumNoVel"
agent = DDPG(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 15000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 9,803 | Python | 44.388889 | 146 | 0.638478 |
Toni-SM/skrl/docs/source/examples/gym/torch_gym_pendulumnovel_sac.py | import gym
import numpy as np
import torch
import torch.nn as nn
import torch.nn.functional as F
# import the skrl components to build the RL system
from skrl.agents.torch.sac import SAC, SAC_DEFAULT_CONFIG
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class Actor(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum"):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
self.linear_layer_1 = nn.Linear(self.num_observations, 400)
self.linear_layer_2 = nn.Linear(400, 300)
self.action_layer = nn.Linear(300, self.num_actions)
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
def compute(self, inputs, role):
x = F.relu(self.linear_layer_1(inputs["states"]))
x = F.relu(self.linear_layer_2(x))
# Pendulum-v1 action_space is -2 to 2
return 2 * torch.tanh(self.action_layer(x)), self.log_std_parameter, {}
class Critic(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.linear_layer_1 = nn.Linear(self.num_observations + self.num_actions, 400)
self.linear_layer_2 = nn.Linear(400, 300)
self.linear_layer_3 = nn.Linear(300, 1)
def compute(self, inputs, role):
x = F.relu(self.linear_layer_1(torch.cat([inputs["states"], inputs["taken_actions"]], dim=1)))
x = F.relu(self.linear_layer_2(x))
return self.linear_layer_3(x), {}
# environment observation wrapper used to mask velocity. Adapted from rl_zoo3 (rl_zoo3/wrappers.py)
class NoVelocityWrapper(gym.ObservationWrapper):
def observation(self, observation):
# observation: x, y, angular velocity
return observation * np.array([1, 1, 0])
gym.envs.registration.register(id="PendulumNoVel-v1", entry_point=lambda: NoVelocityWrapper(gym.make("Pendulum-v1")))
# load and wrap the gym environment
env = gym.make("PendulumNoVel-v1")
env = wrap_env(env)
device = env.device
# instantiate a memory as experience replay
memory = RandomMemory(memory_size=20000, num_envs=env.num_envs, device=device, replacement=False)
# instantiate the agent's models (function approximators).
# SAC requires 5 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/sac.html#models
models = {}
models["policy"] = Actor(env.observation_space, env.action_space, device, clip_actions=True)
models["critic_1"] = Critic(env.observation_space, env.action_space, device)
models["critic_2"] = Critic(env.observation_space, env.action_space, device)
models["target_critic_1"] = Critic(env.observation_space, env.action_space, device)
models["target_critic_2"] = Critic(env.observation_space, env.action_space, device)
# initialize models' parameters (weights and biases)
for model in models.values():
model.init_parameters(method_name="normal_", mean=0.0, std=0.1)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/sac.html#configuration-and-hyperparameters
cfg = SAC_DEFAULT_CONFIG.copy()
cfg["discount_factor"] = 0.98
cfg["batch_size"] = 100
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 1000
cfg["learn_entropy"] = True
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 75
cfg["experiment"]["checkpoint_interval"] = 750
cfg["experiment"]["directory"] = "runs/torch/PendulumNoVel"
agent = SAC(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 15000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 4,566 | Python | 38.370689 | 117 | 0.711345 |
Toni-SM/skrl/docs/source/examples/gym/torch_gym_frozen_lake_vector_q_learning.py | import gym
import torch
# import the skrl components to build the RL system
from skrl.agents.torch.q_learning import Q_LEARNING, Q_LEARNING_DEFAULT_CONFIG
from skrl.envs.wrappers.torch import wrap_env
from skrl.models.torch import Model, TabularMixin
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define model (tabular model) using mixin
class EpilonGreedyPolicy(TabularMixin, Model):
def __init__(self, observation_space, action_space, device, num_envs=1, epsilon=0.1):
Model.__init__(self, observation_space, action_space, device)
TabularMixin.__init__(self, num_envs)
self.epsilon = epsilon
self.q_table = torch.ones((num_envs, self.num_observations, self.num_actions),
dtype=torch.float32, device=self.device)
def compute(self, inputs, role):
actions = torch.argmax(self.q_table[torch.arange(self.num_envs).view(-1, 1), inputs["states"]],
dim=-1, keepdim=True).view(-1,1)
# choose random actions for exploration according to epsilon
indexes = (torch.rand(inputs["states"].shape[0], device=self.device) < self.epsilon).nonzero().view(-1)
if indexes.numel():
actions[indexes] = torch.randint(self.num_actions, (indexes.numel(), 1), device=self.device)
return actions, {}
# load and wrap the gym environment.
# note: the environment version may change depending on the gym version
try:
env = gym.vector.make("FrozenLake-v0", num_envs=10, asynchronous=False)
except gym.error.DeprecatedEnv as e:
env_id = [spec.id for spec in gym.envs.registry.all() if spec.id.startswith("FrozenLake-v")][0]
print("FrozenLake-v0 not found. Trying {}".format(env_id))
env = gym.vector.make(env_id, num_envs=10, asynchronous=False)
env = wrap_env(env)
device = env.device
# instantiate the agent's model (table)
# Q-learning requires 1 model, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/q_learning.html#models
models = {}
models["policy"] = EpilonGreedyPolicy(env.observation_space, env.action_space, device, num_envs=env.num_envs, epsilon=0.1)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/q_learning.html#configuration-and-hyperparameters
cfg = Q_LEARNING_DEFAULT_CONFIG.copy()
cfg["discount_factor"] = 0.999
cfg["alpha"] = 0.4
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 1600
cfg["experiment"]["checkpoint_interval"] = 8000
cfg["experiment"]["directory"] = "runs/torch/FrozenLake"
agent = Q_LEARNING(models=models,
memory=None,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 80000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 3,206 | Python | 38.109756 | 122 | 0.691204 |
Toni-SM/skrl/docs/source/examples/gym/torch_gym_pendulum_vector_ddpg.py | import gym
import torch
import torch.nn as nn
import torch.nn.functional as F
# import the skrl components to build the RL system
from skrl.agents.torch.ddpg import DDPG, DDPG_DEFAULT_CONFIG
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, Model
from skrl.resources.noises.torch import OrnsteinUhlenbeckNoise
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (deterministic models) using mixin
class Actor(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.linear_layer_1 = nn.Linear(self.num_observations, 400)
self.linear_layer_2 = nn.Linear(400, 300)
self.action_layer = nn.Linear(300, self.num_actions)
def compute(self, inputs, role):
x = F.relu(self.linear_layer_1(inputs["states"]))
x = F.relu(self.linear_layer_2(x))
# Pendulum-v1 action_space is -2 to 2
return 2 * torch.tanh(self.action_layer(x)), {}
class Critic(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.linear_layer_1 = nn.Linear(self.num_observations + self.num_actions, 400)
self.linear_layer_2 = nn.Linear(400, 300)
self.linear_layer_3 = nn.Linear(300, 1)
def compute(self, inputs, role):
x = F.relu(self.linear_layer_1(torch.cat([inputs["states"], inputs["taken_actions"]], dim=1)))
x = F.relu(self.linear_layer_2(x))
return self.linear_layer_3(x), {}
# load and wrap the gym environment.
# note: the environment version may change depending on the gym version
try:
env = gym.vector.make("Pendulum-v1", num_envs=10, asynchronous=False)
except gym.error.DeprecatedEnv as e:
env_id = [spec.id for spec in gym.envs.registry.all() if spec.id.startswith("Pendulum-v")][0]
print("Pendulum-v1 not found. Trying {}".format(env_id))
env = gym.vector.make(env_id, num_envs=10, asynchronous=False)
env = wrap_env(env)
device = env.device
# instantiate a memory as experience replay
memory = RandomMemory(memory_size=100000, num_envs=env.num_envs, device=device, replacement=False)
# instantiate the agent's models (function approximators).
# DDPG requires 4 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ddpg.html#models
models = {}
models["policy"] = Actor(env.observation_space, env.action_space, device)
models["target_policy"] = Actor(env.observation_space, env.action_space, device)
models["critic"] = Critic(env.observation_space, env.action_space, device)
models["target_critic"] = Critic(env.observation_space, env.action_space, device)
# initialize models' parameters (weights and biases)
for model in models.values():
model.init_parameters(method_name="normal_", mean=0.0, std=0.1)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ddpg.html#configuration-and-hyperparameters
cfg = DDPG_DEFAULT_CONFIG.copy()
cfg["exploration"]["noise"] = OrnsteinUhlenbeckNoise(theta=0.15, sigma=0.1, base_scale=1.0, device=device)
cfg["batch_size"] = 100
cfg["random_timesteps"] = 100
cfg["learning_starts"] = 100
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 1000
cfg["experiment"]["checkpoint_interval"] = 1000
cfg["experiment"]["directory"] = "runs/torch/Pendulum"
agent = DDPG(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 15000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 4,286 | Python | 38.330275 | 106 | 0.713019 |
Toni-SM/skrl/docs/source/examples/gym/torch_gym_pendulumnovel_sac_rnn.py | import gym
import numpy as np
import torch
import torch.nn as nn
import torch.nn.functional as F
# import the skrl components to build the RL system
from skrl.agents.torch.sac import SAC_DEFAULT_CONFIG
from skrl.agents.torch.sac import SAC_RNN as SAC
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class Actor(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum",
num_envs=1, num_layers=1, hidden_size=400, sequence_length=20):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
self.num_envs = num_envs
self.num_layers = num_layers
self.hidden_size = hidden_size # Hout
self.sequence_length = sequence_length
self.rnn = nn.RNN(input_size=self.num_observations,
hidden_size=self.hidden_size,
num_layers=self.num_layers,
batch_first=True) # batch_first -> (batch, sequence, features)
self.linear_layer_1 = nn.Linear(self.hidden_size, 400)
self.linear_layer_2 = nn.Linear(400, 300)
self.action_layer = nn.Linear(300, self.num_actions)
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
def get_specification(self):
# batch size (N) is the number of envs
return {"rnn": {"sequence_length": self.sequence_length,
"sizes": [(self.num_layers, self.num_envs, self.hidden_size)]}} # hidden states (D ∗ num_layers, N, Hout)
def compute(self, inputs, role):
states = inputs["states"]
terminated = inputs.get("terminated", None)
hidden_states = inputs["rnn"][0]
# training
if self.training:
rnn_input = states.view(-1, self.sequence_length, states.shape[-1]) # (N, L, Hin): N=batch_size, L=sequence_length
hidden_states = hidden_states.view(self.num_layers, -1, self.sequence_length, hidden_states.shape[-1]) # (D * num_layers, N, L, Hout)
# get the hidden states corresponding to the initial sequence
hidden_states = hidden_states[:,:,0,:].contiguous() # (D * num_layers, N, Hout)
# reset the RNN state in the middle of a sequence
if terminated is not None and torch.any(terminated):
rnn_outputs = []
terminated = terminated.view(-1, self.sequence_length)
indexes = [0] + (terminated[:,:-1].any(dim=0).nonzero(as_tuple=True)[0] + 1).tolist() + [self.sequence_length]
for i in range(len(indexes) - 1):
i0, i1 = indexes[i], indexes[i + 1]
rnn_output, hidden_states = self.rnn(rnn_input[:,i0:i1,:], hidden_states)
hidden_states[:, (terminated[:,i1-1]), :] = 0
rnn_outputs.append(rnn_output)
rnn_output = torch.cat(rnn_outputs, dim=1)
# no need to reset the RNN state in the sequence
else:
rnn_output, hidden_states = self.rnn(rnn_input, hidden_states)
# rollout
else:
rnn_input = states.view(-1, 1, states.shape[-1]) # (N, L, Hin): N=num_envs, L=1
rnn_output, hidden_states = self.rnn(rnn_input, hidden_states)
# flatten the RNN output
rnn_output = torch.flatten(rnn_output, start_dim=0, end_dim=1) # (N, L, D ∗ Hout) -> (N * L, D ∗ Hout)
x = F.relu(self.linear_layer_1(rnn_output))
x = F.relu(self.linear_layer_2(x))
# Pendulum-v1 action_space is -2 to 2
return 2 * torch.tanh(self.action_layer(x)), self.log_std_parameter, {"rnn": [hidden_states]}
class Critic(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
num_envs=1, num_layers=1, hidden_size=400, sequence_length=20):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.num_envs = num_envs
self.num_layers = num_layers
self.hidden_size = hidden_size # Hout
self.sequence_length = sequence_length
self.rnn = nn.RNN(input_size=self.num_observations,
hidden_size=self.hidden_size,
num_layers=self.num_layers,
batch_first=True) # batch_first -> (batch, sequence, features)
self.linear_layer_1 = nn.Linear(self.hidden_size + self.num_actions, 400)
self.linear_layer_2 = nn.Linear(400, 300)
self.linear_layer_3 = nn.Linear(300, 1)
def get_specification(self):
# batch size (N) is the number of envs
return {"rnn": {"sequence_length": self.sequence_length,
"sizes": [(self.num_layers, self.num_envs, self.hidden_size)]}} # hidden states (D ∗ num_layers, N, Hout)
def compute(self, inputs, role):
states = inputs["states"]
terminated = inputs.get("terminated", None)
hidden_states = inputs["rnn"][0]
# critic is only used during training
rnn_input = states.view(-1, self.sequence_length, states.shape[-1]) # (N, L, Hin): N=batch_size, L=sequence_length
hidden_states = hidden_states.view(self.num_layers, -1, self.sequence_length, hidden_states.shape[-1]) # (D * num_layers, N, L, Hout)
# get the hidden states corresponding to the initial sequence
sequence_index = 1 if role in ["target_critic_1", "target_critic_2"] else 0 # target networks act on the next state of the environment
hidden_states = hidden_states[:,:,sequence_index,:].contiguous() # (D * num_layers, N, Hout)
# reset the RNN state in the middle of a sequence
if terminated is not None and torch.any(terminated):
rnn_outputs = []
terminated = terminated.view(-1, self.sequence_length)
indexes = [0] + (terminated[:,:-1].any(dim=0).nonzero(as_tuple=True)[0] + 1).tolist() + [self.sequence_length]
for i in range(len(indexes) - 1):
i0, i1 = indexes[i], indexes[i + 1]
rnn_output, hidden_states = self.rnn(rnn_input[:,i0:i1,:], hidden_states)
hidden_states[:, (terminated[:,i1-1]), :] = 0
rnn_outputs.append(rnn_output)
rnn_output = torch.cat(rnn_outputs, dim=1)
# no need to reset the RNN state in the sequence
else:
rnn_output, hidden_states = self.rnn(rnn_input, hidden_states)
# flatten the RNN output
rnn_output = torch.flatten(rnn_output, start_dim=0, end_dim=1) # (N, L, D ∗ Hout) -> (N * L, D ∗ Hout)
x = F.relu(self.linear_layer_1(torch.cat([rnn_output, inputs["taken_actions"]], dim=1)))
x = F.relu(self.linear_layer_2(x))
return self.linear_layer_3(x), {"rnn": [hidden_states]}
# environment observation wrapper used to mask velocity. Adapted from rl_zoo3 (rl_zoo3/wrappers.py)
class NoVelocityWrapper(gym.ObservationWrapper):
def observation(self, observation):
# observation: x, y, angular velocity
return observation * np.array([1, 1, 0])
gym.envs.registration.register(id="PendulumNoVel-v1", entry_point=lambda: NoVelocityWrapper(gym.make("Pendulum-v1")))
# load and wrap the gym environment
env = gym.make("PendulumNoVel-v1")
env = wrap_env(env)
device = env.device
# instantiate a memory as experience replay
memory = RandomMemory(memory_size=20000, num_envs=env.num_envs, device=device, replacement=False)
# instantiate the agent's models (function approximators).
# SAC requires 5 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/sac.html#models
models = {}
models["policy"] = Actor(env.observation_space, env.action_space, device, clip_actions=True, num_envs=env.num_envs)
models["critic_1"] = Critic(env.observation_space, env.action_space, device, num_envs=env.num_envs)
models["critic_2"] = Critic(env.observation_space, env.action_space, device, num_envs=env.num_envs)
models["target_critic_1"] = Critic(env.observation_space, env.action_space, device, num_envs=env.num_envs)
models["target_critic_2"] = Critic(env.observation_space, env.action_space, device, num_envs=env.num_envs)
# initialize models' parameters (weights and biases)
for model in models.values():
model.init_parameters(method_name="normal_", mean=0.0, std=0.1)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/sac.html#configuration-and-hyperparameters
cfg = SAC_DEFAULT_CONFIG.copy()
cfg["discount_factor"] = 0.98
cfg["batch_size"] = 100
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 1000
cfg["learn_entropy"] = True
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 75
cfg["experiment"]["checkpoint_interval"] = 750
cfg["experiment"]["directory"] = "runs/torch/PendulumNoVel"
agent = SAC(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 15000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 9,916 | Python | 44.490825 | 146 | 0.637455 |
Toni-SM/skrl/docs/source/examples/gym/torch_gym_frozen_lake_q_learning.py | import gym
import torch
# import the skrl components to build the RL system
from skrl.agents.torch.q_learning import Q_LEARNING, Q_LEARNING_DEFAULT_CONFIG
from skrl.envs.wrappers.torch import wrap_env
from skrl.models.torch import Model, TabularMixin
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define model (tabular model) using mixin
class EpilonGreedyPolicy(TabularMixin, Model):
def __init__(self, observation_space, action_space, device, num_envs=1, epsilon=0.1):
Model.__init__(self, observation_space, action_space, device)
TabularMixin.__init__(self, num_envs)
self.epsilon = epsilon
self.q_table = torch.ones((num_envs, self.num_observations, self.num_actions),
dtype=torch.float32, device=self.device)
def compute(self, inputs, role):
actions = torch.argmax(self.q_table[torch.arange(self.num_envs).view(-1, 1), inputs["states"]],
dim=-1, keepdim=True).view(-1,1)
# choose random actions for exploration according to epsilon
indexes = (torch.rand(inputs["states"].shape[0], device=self.device) < self.epsilon).nonzero().view(-1)
if indexes.numel():
actions[indexes] = torch.randint(self.num_actions, (indexes.numel(), 1), device=self.device)
return actions, {}
# load and wrap the gym environment.
# note: the environment version may change depending on the gym version
try:
env = gym.make("FrozenLake-v0")
except gym.error.DeprecatedEnv as e:
env_id = [spec.id for spec in gym.envs.registry.all() if spec.id.startswith("FrozenLake-v")][0]
print("FrozenLake-v0 not found. Trying {}".format(env_id))
env = gym.make(env_id)
env = wrap_env(env)
device = env.device
# instantiate the agent's model (table)
# Q-learning requires 1 model, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/q_learning.html#models
models = {}
models["policy"] = EpilonGreedyPolicy(env.observation_space, env.action_space, device, num_envs=env.num_envs, epsilon=0.1)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/q_learning.html#configuration-and-hyperparameters
cfg = Q_LEARNING_DEFAULT_CONFIG.copy()
cfg["discount_factor"] = 0.999
cfg["alpha"] = 0.4
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 1600
cfg["experiment"]["checkpoint_interval"] = 8000
cfg["experiment"]["directory"] = "runs/torch/FrozenLake"
agent = Q_LEARNING(models=models,
memory=None,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 80000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 3,126 | Python | 37.134146 | 122 | 0.68842 |
Toni-SM/skrl/docs/source/examples/gym/torch_gym_pendulumnovel_ddpg_gru.py | import gym
import numpy as np
import torch
import torch.nn as nn
import torch.nn.functional as F
# import the skrl components to build the RL system
from skrl.agents.torch.ddpg import DDPG_DEFAULT_CONFIG
from skrl.agents.torch.ddpg import DDPG_RNN as DDPG
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, Model
from skrl.resources.noises.torch import OrnsteinUhlenbeckNoise
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (deterministic models) using mixin
class Actor(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
num_envs=1, num_layers=1, hidden_size=400, sequence_length=20):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.num_envs = num_envs
self.num_layers = num_layers
self.hidden_size = hidden_size # Hout
self.sequence_length = sequence_length
self.gru = nn.GRU(input_size=self.num_observations,
hidden_size=self.hidden_size,
num_layers=self.num_layers,
batch_first=True) # batch_first -> (batch, sequence, features)
self.linear_layer_1 = nn.Linear(self.hidden_size, 400)
self.linear_layer_2 = nn.Linear(400, 300)
self.action_layer = nn.Linear(300, self.num_actions)
def get_specification(self):
# batch size (N) is the number of envs
return {"rnn": {"sequence_length": self.sequence_length,
"sizes": [(self.num_layers, self.num_envs, self.hidden_size)]}} # hidden states (D ∗ num_layers, N, Hout)
def compute(self, inputs, role):
states = inputs["states"]
terminated = inputs.get("terminated", None)
hidden_states = inputs["rnn"][0]
# training
if self.training:
rnn_input = states.view(-1, self.sequence_length, states.shape[-1]) # (N, L, Hin): N=batch_size, L=sequence_length
hidden_states = hidden_states.view(self.num_layers, -1, self.sequence_length, hidden_states.shape[-1]) # (D * num_layers, N, L, Hout)
# get the hidden states corresponding to the initial sequence
sequence_index = 1 if role == "target_policy" else 0 # target networks act on the next state of the environment
hidden_states = hidden_states[:,:,sequence_index,:].contiguous() # (D * num_layers, N, Hout)
# reset the RNN state in the middle of a sequence
if terminated is not None and torch.any(terminated):
rnn_outputs = []
terminated = terminated.view(-1, self.sequence_length)
indexes = [0] + (terminated[:,:-1].any(dim=0).nonzero(as_tuple=True)[0] + 1).tolist() + [self.sequence_length]
for i in range(len(indexes) - 1):
i0, i1 = indexes[i], indexes[i + 1]
rnn_output, hidden_states = self.gru(rnn_input[:,i0:i1,:], hidden_states)
hidden_states[:, (terminated[:,i1-1]), :] = 0
rnn_outputs.append(rnn_output)
rnn_output = torch.cat(rnn_outputs, dim=1)
# no need to reset the RNN state in the sequence
else:
rnn_output, hidden_states = self.gru(rnn_input, hidden_states)
# rollout
else:
rnn_input = states.view(-1, 1, states.shape[-1]) # (N, L, Hin): N=num_envs, L=1
rnn_output, hidden_states = self.gru(rnn_input, hidden_states)
# flatten the RNN output
rnn_output = torch.flatten(rnn_output, start_dim=0, end_dim=1) # (N, L, D ∗ Hout) -> (N * L, D ∗ Hout)
x = F.relu(self.linear_layer_1(rnn_output))
x = F.relu(self.linear_layer_2(x))
# Pendulum-v1 action_space is -2 to 2
return 2 * torch.tanh(self.action_layer(x)), {"rnn": [hidden_states]}
class Critic(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
num_envs=1, num_layers=1, hidden_size=400, sequence_length=20):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.num_envs = num_envs
self.num_layers = num_layers
self.hidden_size = hidden_size # Hout
self.sequence_length = sequence_length
self.gru = nn.GRU(input_size=self.num_observations,
hidden_size=self.hidden_size,
num_layers=self.num_layers,
batch_first=True) # batch_first -> (batch, sequence, features)
self.linear_layer_1 = nn.Linear(self.hidden_size + self.num_actions, 400)
self.linear_layer_2 = nn.Linear(400, 300)
self.linear_layer_3 = nn.Linear(300, 1)
def get_specification(self):
# batch size (N) is the number of envs
return {"rnn": {"sequence_length": self.sequence_length,
"sizes": [(self.num_layers, self.num_envs, self.hidden_size)]}} # hidden states (D ∗ num_layers, N, Hout)
def compute(self, inputs, role):
states = inputs["states"]
terminated = inputs.get("terminated", None)
hidden_states = inputs["rnn"][0]
# critic is only used during training
rnn_input = states.view(-1, self.sequence_length, states.shape[-1]) # (N, L, Hin): N=batch_size, L=sequence_length
hidden_states = hidden_states.view(self.num_layers, -1, self.sequence_length, hidden_states.shape[-1]) # (D * num_layers, N, L, Hout)
# get the hidden states corresponding to the initial sequence
sequence_index = 1 if role == "target_critic" else 0 # target networks act on the next state of the environment
hidden_states = hidden_states[:,:,sequence_index,:].contiguous() # (D * num_layers, N, Hout)
# reset the RNN state in the middle of a sequence
if terminated is not None and torch.any(terminated):
rnn_outputs = []
terminated = terminated.view(-1, self.sequence_length)
indexes = [0] + (terminated[:,:-1].any(dim=0).nonzero(as_tuple=True)[0] + 1).tolist() + [self.sequence_length]
for i in range(len(indexes) - 1):
i0, i1 = indexes[i], indexes[i + 1]
rnn_output, hidden_states = self.gru(rnn_input[:,i0:i1,:], hidden_states)
hidden_states[:, (terminated[:,i1-1]), :] = 0
rnn_outputs.append(rnn_output)
rnn_output = torch.cat(rnn_outputs, dim=1)
# no need to reset the RNN state in the sequence
else:
rnn_output, hidden_states = self.gru(rnn_input, hidden_states)
# flatten the RNN output
rnn_output = torch.flatten(rnn_output, start_dim=0, end_dim=1) # (N, L, D ∗ Hout) -> (N * L, D ∗ Hout)
x = F.relu(self.linear_layer_1(torch.cat([rnn_output, inputs["taken_actions"]], dim=1)))
x = F.relu(self.linear_layer_2(x))
return self.linear_layer_3(x), {"rnn": [hidden_states]}
# environment observation wrapper used to mask velocity. Adapted from rl_zoo3 (rl_zoo3/wrappers.py)
class NoVelocityWrapper(gym.ObservationWrapper):
def observation(self, observation):
# observation: x, y, angular velocity
return observation * np.array([1, 1, 0])
gym.envs.registration.register(id="PendulumNoVel-v1", entry_point=lambda: NoVelocityWrapper(gym.make("Pendulum-v1")))
# load and wrap the gym environment
env = gym.make("PendulumNoVel-v1")
env = wrap_env(env)
device = env.device
# instantiate a memory as experience replay
memory = RandomMemory(memory_size=20000, num_envs=env.num_envs, device=device, replacement=False)
# instantiate the agent's models (function approximators).
# DDPG requires 4 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ddpg.html#models
models = {}
models["policy"] = Actor(env.observation_space, env.action_space, device, num_envs=env.num_envs)
models["target_policy"] = Actor(env.observation_space, env.action_space, device, num_envs=env.num_envs)
models["critic"] = Critic(env.observation_space, env.action_space, device, num_envs=env.num_envs)
models["target_critic"] = Critic(env.observation_space, env.action_space, device, num_envs=env.num_envs)
# initialize models' parameters (weights and biases)
for model in models.values():
model.init_parameters(method_name="normal_", mean=0.0, std=0.1)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ddpg.html#configuration-and-hyperparameters
cfg = DDPG_DEFAULT_CONFIG.copy()
cfg["exploration"]["noise"] = OrnsteinUhlenbeckNoise(theta=0.15, sigma=0.1, base_scale=1.0, device=device)
cfg["discount_factor"] = 0.98
cfg["batch_size"] = 100
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 1000
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 75
cfg["experiment"]["checkpoint_interval"] = 750
cfg["experiment"]["directory"] = "runs/torch/PendulumNoVel"
agent = DDPG(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 15000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 9,803 | Python | 44.388889 | 146 | 0.638478 |
Toni-SM/skrl/docs/source/examples/gym/torch_gym_pendulumnovel_td3_lstm.py | import gym
import numpy as np
import torch
import torch.nn as nn
import torch.nn.functional as F
# import the skrl components to build the RL system
from skrl.agents.torch.td3 import TD3_DEFAULT_CONFIG
from skrl.agents.torch.td3 import TD3_RNN as TD3
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, Model
from skrl.resources.noises.torch import GaussianNoise
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (deterministic models) using mixin
class Actor(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
num_envs=1, num_layers=1, hidden_size=400, sequence_length=20):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.num_envs = num_envs
self.num_layers = num_layers
self.hidden_size = hidden_size # Hcell (Hout is Hcell because proj_size = 0)
self.sequence_length = sequence_length
self.lstm = nn.LSTM(input_size=self.num_observations,
hidden_size=self.hidden_size,
num_layers=self.num_layers,
batch_first=True) # batch_first -> (batch, sequence, features)
self.linear_layer_1 = nn.Linear(self.hidden_size, 400)
self.linear_layer_2 = nn.Linear(400, 300)
self.action_layer = nn.Linear(300, self.num_actions)
def get_specification(self):
# batch size (N) is the number of envs
return {"rnn": {"sequence_length": self.sequence_length,
"sizes": [(self.num_layers, self.num_envs, self.hidden_size), # hidden states (D ∗ num_layers, N, Hout)
(self.num_layers, self.num_envs, self.hidden_size)]}} # cell states (D ∗ num_layers, N, Hcell)
def compute(self, inputs, role):
states = inputs["states"]
terminated = inputs.get("terminated", None)
hidden_states, cell_states = inputs["rnn"][0], inputs["rnn"][1]
# training
if self.training:
rnn_input = states.view(-1, self.sequence_length, states.shape[-1]) # (N, L, Hin): N=batch_size, L=sequence_length
hidden_states = hidden_states.view(self.num_layers, -1, self.sequence_length, hidden_states.shape[-1]) # (D * num_layers, N, L, Hout)
cell_states = cell_states.view(self.num_layers, -1, self.sequence_length, cell_states.shape[-1]) # (D * num_layers, N, L, Hcell)
# get the hidden/cell states corresponding to the initial sequence
sequence_index = 1 if role == "target_policy" else 0 # target networks act on the next state of the environment
hidden_states = hidden_states[:,:,sequence_index,:].contiguous() # (D * num_layers, N, Hout)
cell_states = cell_states[:,:,sequence_index,:].contiguous() # (D * num_layers, N, Hcell)
# reset the RNN state in the middle of a sequence
if terminated is not None and torch.any(terminated):
rnn_outputs = []
terminated = terminated.view(-1, self.sequence_length)
indexes = [0] + (terminated[:,:-1].any(dim=0).nonzero(as_tuple=True)[0] + 1).tolist() + [self.sequence_length]
for i in range(len(indexes) - 1):
i0, i1 = indexes[i], indexes[i + 1]
rnn_output, (hidden_states, cell_states) = self.lstm(rnn_input[:,i0:i1,:], (hidden_states, cell_states))
hidden_states[:, (terminated[:,i1-1]), :] = 0
cell_states[:, (terminated[:,i1-1]), :] = 0
rnn_outputs.append(rnn_output)
rnn_states = (hidden_states, cell_states)
rnn_output = torch.cat(rnn_outputs, dim=1)
# no need to reset the RNN state in the sequence
else:
rnn_output, rnn_states = self.lstm(rnn_input, (hidden_states, cell_states))
# rollout
else:
rnn_input = states.view(-1, 1, states.shape[-1]) # (N, L, Hin): N=num_envs, L=1
rnn_output, rnn_states = self.lstm(rnn_input, (hidden_states, cell_states))
# flatten the RNN output
rnn_output = torch.flatten(rnn_output, start_dim=0, end_dim=1) # (N, L, D ∗ Hout) -> (N * L, D ∗ Hout)
x = F.relu(self.linear_layer_1(rnn_output))
x = F.relu(self.linear_layer_2(x))
# Pendulum-v1 action_space is -2 to 2
return 2 * torch.tanh(self.action_layer(x)), {"rnn": [rnn_states[0], rnn_states[1]]}
class Critic(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
num_envs=1, num_layers=1, hidden_size=400, sequence_length=20):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.num_envs = num_envs
self.num_layers = num_layers
self.hidden_size = hidden_size # Hcell (Hout is Hcell because proj_size = 0)
self.sequence_length = sequence_length
self.lstm = nn.LSTM(input_size=self.num_observations,
hidden_size=self.hidden_size,
num_layers=self.num_layers,
batch_first=True) # batch_first -> (batch, sequence, features)
self.linear_layer_1 = nn.Linear(self.hidden_size + self.num_actions, 400)
self.linear_layer_2 = nn.Linear(400, 300)
self.linear_layer_3 = nn.Linear(300, 1)
def get_specification(self):
# batch size (N) is the number of envs
return {"rnn": {"sequence_length": self.sequence_length,
"sizes": [(self.num_layers, self.num_envs, self.hidden_size), # hidden states (D ∗ num_layers, N, Hout)
(self.num_layers, self.num_envs, self.hidden_size)]}} # cell states (D ∗ num_layers, N, Hcell)
def compute(self, inputs, role):
states = inputs["states"]
terminated = inputs.get("terminated", None)
hidden_states, cell_states = inputs["rnn"][0], inputs["rnn"][1]
# critic is only used during training
rnn_input = states.view(-1, self.sequence_length, states.shape[-1]) # (N, L, Hin): N=batch_size, L=sequence_length
hidden_states = hidden_states.view(self.num_layers, -1, self.sequence_length, hidden_states.shape[-1]) # (D * num_layers, N, L, Hout)
cell_states = cell_states.view(self.num_layers, -1, self.sequence_length, cell_states.shape[-1]) # (D * num_layers, N, L, Hcell)
# get the hidden/cell states corresponding to the initial sequence
sequence_index = 1 if role in ["target_critic_1", "target_critic_2"] else 0 # target networks act on the next state of the environment
hidden_states = hidden_states[:,:,sequence_index,:].contiguous() # (D * num_layers, N, Hout)
cell_states = cell_states[:,:,sequence_index,:].contiguous() # (D * num_layers, N, Hcell)
# reset the RNN state in the middle of a sequence
if terminated is not None and torch.any(terminated):
rnn_outputs = []
terminated = terminated.view(-1, self.sequence_length)
indexes = [0] + (terminated[:,:-1].any(dim=0).nonzero(as_tuple=True)[0] + 1).tolist() + [self.sequence_length]
for i in range(len(indexes) - 1):
i0, i1 = indexes[i], indexes[i + 1]
rnn_output, (hidden_states, cell_states) = self.lstm(rnn_input[:,i0:i1,:], (hidden_states, cell_states))
hidden_states[:, (terminated[:,i1-1]), :] = 0
cell_states[:, (terminated[:,i1-1]), :] = 0
rnn_outputs.append(rnn_output)
rnn_states = (hidden_states, cell_states)
rnn_output = torch.cat(rnn_outputs, dim=1)
# no need to reset the RNN state in the sequence
else:
rnn_output, rnn_states = self.lstm(rnn_input, (hidden_states, cell_states))
# flatten the RNN output
rnn_output = torch.flatten(rnn_output, start_dim=0, end_dim=1) # (N, L, D ∗ Hout) -> (N * L, D ∗ Hout)
x = F.relu(self.linear_layer_1(torch.cat([rnn_output, inputs["taken_actions"]], dim=1)))
x = F.relu(self.linear_layer_2(x))
return self.linear_layer_3(x), {"rnn": [rnn_states[0], rnn_states[1]]}
# environment observation wrapper used to mask velocity. Adapted from rl_zoo3 (rl_zoo3/wrappers.py)
class NoVelocityWrapper(gym.ObservationWrapper):
def observation(self, observation):
# observation: x, y, angular velocity
return observation * np.array([1, 1, 0])
gym.envs.registration.register(id="PendulumNoVel-v1", entry_point=lambda: NoVelocityWrapper(gym.make("Pendulum-v1")))
# load and wrap the gym environment
env = gym.make("PendulumNoVel-v1")
env = wrap_env(env)
device = env.device
# instantiate a memory as experience replay
memory = RandomMemory(memory_size=20000, num_envs=env.num_envs, device=device, replacement=False)
# instantiate the agent's models (function approximators).
# TD3 requires 6 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/td3.html#models
models = {}
models["policy"] = Actor(env.observation_space, env.action_space, device, num_envs=env.num_envs)
models["target_policy"] = Actor(env.observation_space, env.action_space, device, num_envs=env.num_envs)
models["critic_1"] = Critic(env.observation_space, env.action_space, device, num_envs=env.num_envs)
models["critic_2"] = Critic(env.observation_space, env.action_space, device, num_envs=env.num_envs)
models["target_critic_1"] = Critic(env.observation_space, env.action_space, device, num_envs=env.num_envs)
models["target_critic_2"] = Critic(env.observation_space, env.action_space, device, num_envs=env.num_envs)
# initialize models' parameters (weights and biases)
for model in models.values():
model.init_parameters(method_name="normal_", mean=0.0, std=0.1)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/td3.html#configuration-and-hyperparameters
cfg = TD3_DEFAULT_CONFIG.copy()
cfg["exploration"]["noise"] = GaussianNoise(0, 0.1, device=device)
cfg["smooth_regularization_noise"] = GaussianNoise(0, 0.2, device=device)
cfg["smooth_regularization_clip"] = 0.5
cfg["discount_factor"] = 0.98
cfg["batch_size"] = 100
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 1000
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 75
cfg["experiment"]["checkpoint_interval"] = 750
cfg["experiment"]["directory"] = "runs/torch/PendulumNoVel"
agent = TD3(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 15000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 11,366 | Python | 48.421739 | 146 | 0.632676 |
Toni-SM/skrl/docs/source/examples/gym/jax_gym_pendulum_vector_ddpg.py | import gym
import flax.linen as nn
import jax
import jax.numpy as jnp
# import the skrl components to build the RL system
from skrl import config
from skrl.agents.jax.ddpg import DDPG, DDPG_DEFAULT_CONFIG
from skrl.envs.wrappers.jax import wrap_env
from skrl.memories.jax import RandomMemory
from skrl.models.jax import DeterministicMixin, Model
from skrl.resources.noises.jax import OrnsteinUhlenbeckNoise
from skrl.trainers.jax import SequentialTrainer
from skrl.utils import set_seed
config.jax.backend = "numpy" # or "jax"
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (deterministic models) using mixins
class Actor(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False, **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
DeterministicMixin.__init__(self, clip_actions)
@nn.compact
def __call__(self, inputs, role):
x = nn.relu(nn.Dense(400)(inputs["states"]))
x = nn.relu(nn.Dense(300)(x))
x = nn.Dense(self.num_actions)(x)
# Pendulum-v1 action_space is -2 to 2
return 2 * nn.tanh(x), {}
class Critic(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False, **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
DeterministicMixin.__init__(self, clip_actions)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = jnp.concatenate([inputs["states"], inputs["taken_actions"]], axis=-1)
x = nn.relu(nn.Dense(400)(x))
x = nn.relu(nn.Dense(300)(x))
x = nn.Dense(1)(x)
return x, {}
# load and wrap the gym environment.
# note: the environment version may change depending on the gym version
try:
env = gym.vector.make("Pendulum-v1", num_envs=10, asynchronous=False)
except gym.error.DeprecatedEnv as e:
env_id = [spec.id for spec in gym.envs.registry.all() if spec.id.startswith("Pendulum-v")][0]
print("Pendulum-v1 not found. Trying {}".format(env_id))
env = gym.vector.make(env_id, num_envs=10, asynchronous=False)
env = wrap_env(env)
device = env.device
# instantiate a memory as experience replay
memory = RandomMemory(memory_size=100000, num_envs=env.num_envs, device=device, replacement=False)
# instantiate the agent's models (function approximators).
# DDPG requires 4 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ddpg.html#models
models = {}
models["policy"] = Actor(env.observation_space, env.action_space, device)
models["target_policy"] = Actor(env.observation_space, env.action_space, device)
models["critic"] = Critic(env.observation_space, env.action_space, device)
models["target_critic"] = Critic(env.observation_space, env.action_space, device)
# instantiate models' state dict
for role, model in models.items():
model.init_state_dict(role)
# initialize models' parameters (weights and biases)
for model in models.values():
model.init_parameters(method_name="normal", stddev=0.1)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ddpg.html#configuration-and-hyperparameters
cfg = DDPG_DEFAULT_CONFIG.copy()
cfg["exploration"]["noise"] = OrnsteinUhlenbeckNoise(theta=0.15, sigma=0.1, base_scale=1.0, device=device)
cfg["batch_size"] = 100
cfg["random_timesteps"] = 100
cfg["learning_starts"] = 100
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 75
cfg["experiment"]["checkpoint_interval"] = 750
cfg["experiment"]["directory"] = "runs/jax/Pendulum"
agent = DDPG(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 15000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 4,229 | Python | 36.105263 | 106 | 0.708678 |
Toni-SM/skrl/docs/source/examples/gym/torch_gym_pendulumnovel_ddpg.py | import gym
import numpy as np
import torch
import torch.nn as nn
import torch.nn.functional as F
# import the skrl components to build the RL system
from skrl.agents.torch.ddpg import DDPG, DDPG_DEFAULT_CONFIG
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, Model
from skrl.resources.noises.torch import OrnsteinUhlenbeckNoise
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (deterministic models) using mixin
class Actor(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.linear_layer_1 = nn.Linear(self.num_observations, 400)
self.linear_layer_2 = nn.Linear(400, 300)
self.action_layer = nn.Linear(300, self.num_actions)
def compute(self, inputs, role):
x = F.relu(self.linear_layer_1(inputs["states"]))
x = F.relu(self.linear_layer_2(x))
# Pendulum-v1 action_space is -2 to 2
return 2 * torch.tanh(self.action_layer(x)), {}
class Critic(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.linear_layer_1 = nn.Linear(self.num_observations + self.num_actions, 400)
self.linear_layer_2 = nn.Linear(400, 300)
self.linear_layer_3 = nn.Linear(300, 1)
def compute(self, inputs, role):
x = F.relu(self.linear_layer_1(torch.cat([inputs["states"], inputs["taken_actions"]], dim=1)))
x = F.relu(self.linear_layer_2(x))
return self.linear_layer_3(x), {}
# environment observation wrapper used to mask velocity. Adapted from rl_zoo3 (rl_zoo3/wrappers.py)
class NoVelocityWrapper(gym.ObservationWrapper):
def observation(self, observation):
# observation: x, y, angular velocity
return observation * np.array([1, 1, 0])
gym.envs.registration.register(id="PendulumNoVel-v1", entry_point=lambda: NoVelocityWrapper(gym.make("Pendulum-v1")))
# load and wrap the gym environment
env = gym.make("PendulumNoVel-v1")
env = wrap_env(env)
device = env.device
# instantiate a memory as experience replay
memory = RandomMemory(memory_size=20000, num_envs=env.num_envs, device=device, replacement=False)
# instantiate the agent's models (function approximators).
# DDPG requires 4 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ddpg.html#models
models = {}
models["policy"] = Actor(env.observation_space, env.action_space, device)
models["target_policy"] = Actor(env.observation_space, env.action_space, device)
models["critic"] = Critic(env.observation_space, env.action_space, device)
models["target_critic"] = Critic(env.observation_space, env.action_space, device)
# initialize models' parameters (weights and biases)
for model in models.values():
model.init_parameters(method_name="normal_", mean=0.0, std=0.1)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ddpg.html#configuration-and-hyperparameters
cfg = DDPG_DEFAULT_CONFIG.copy()
cfg["exploration"]["noise"] = OrnsteinUhlenbeckNoise(theta=0.15, sigma=0.1, base_scale=1.0, device=device)
cfg["discount_factor"] = 0.98
cfg["batch_size"] = 100
cfg["random_timesteps"] = 1000
cfg["learning_starts"] = 1000
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 75
cfg["experiment"]["checkpoint_interval"] = 750
cfg["experiment"]["directory"] = "runs/torch/PendulumNoVel"
agent = DDPG(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 15000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 4,362 | Python | 37.610619 | 117 | 0.716185 |
Toni-SM/skrl/docs/source/examples/gym/jax_gym_cartpole_vector_dqn.py | import gym
# import the skrl components to build the RL system
from skrl import config
from skrl.agents.jax.dqn import DQN, DQN_DEFAULT_CONFIG
from skrl.envs.wrappers.jax import wrap_env
from skrl.memories.jax import RandomMemory
from skrl.trainers.jax import SequentialTrainer
from skrl.utils import set_seed
from skrl.utils.model_instantiators.jax import Shape, deterministic_model
config.jax.backend = "numpy" # or "jax"
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# load and wrap the gym environment.
# note: the environment version may change depending on the gym version
try:
env = gym.vector.make("CartPole-v0", num_envs=5, asynchronous=False)
except gym.error.DeprecatedEnv as e:
env_id = [spec.id for spec in gym.envs.registry.all() if spec.id.startswith("CartPole-v")][0]
print("CartPole-v0 not found. Trying {}".format(env_id))
env = gym.vector.make(env_id, num_envs=5, asynchronous=False)
env = wrap_env(env)
device = env.device
# instantiate a memory as experience replay
memory = RandomMemory(memory_size=200000, num_envs=env.num_envs, device=device, replacement=False)
# instantiate the agent's models (function approximators) using the model instantiator utility.
# DQN requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/dqn.html#models
models = {}
models["q_network"] = deterministic_model(observation_space=env.observation_space,
action_space=env.action_space,
device=device,
clip_actions=False,
input_shape=Shape.OBSERVATIONS,
hiddens=[64, 64],
hidden_activation=["relu", "relu"],
output_shape=Shape.ACTIONS,
output_activation=None,
output_scale=1.0)
models["target_q_network"] = deterministic_model(observation_space=env.observation_space,
action_space=env.action_space,
device=device,
clip_actions=False,
input_shape=Shape.OBSERVATIONS,
hiddens=[64, 64],
hidden_activation=["relu", "relu"],
output_shape=Shape.ACTIONS,
output_activation=None,
output_scale=1.0)
# instantiate models' state dict
for role, model in models.items():
model.init_state_dict(role)
# initialize models' parameters (weights and biases)
for model in models.values():
model.init_parameters(method_name="normal", stddev=0.1)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/dqn.html#configuration-and-hyperparameters
cfg = DQN_DEFAULT_CONFIG.copy()
cfg["learning_starts"] = 100
cfg["exploration"]["final_epsilon"] = 0.04
cfg["exploration"]["timesteps"] = 1500
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 1000
cfg["experiment"]["checkpoint_interval"] = 5000
cfg["experiment"]["directory"] = "runs/jax/CartPole"
agent = DQN(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 50000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 4,000 | Python | 40.677083 | 98 | 0.593 |
Toni-SM/skrl/docs/source/examples/gym/torch_gym_taxi_vector_sarsa.py | import gym
import torch
# import the skrl components to build the RL system
from skrl.agents.torch.sarsa import SARSA, SARSA_DEFAULT_CONFIG
from skrl.envs.wrappers.torch import wrap_env
from skrl.models.torch import Model, TabularMixin
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define model (tabular model) using mixin
class EpilonGreedyPolicy(TabularMixin, Model):
def __init__(self, observation_space, action_space, device, num_envs=1, epsilon=0.1):
Model.__init__(self, observation_space, action_space, device)
TabularMixin.__init__(self, num_envs)
self.epsilon = epsilon
self.q_table = torch.ones((num_envs, self.num_observations, self.num_actions),
dtype=torch.float32, device=self.device)
def compute(self, inputs, role):
actions = torch.argmax(self.q_table[torch.arange(self.num_envs).view(-1, 1), inputs["states"]],
dim=-1, keepdim=True).view(-1,1)
# choose random actions for exploration according to epsilon
indexes = (torch.rand(inputs["states"].shape[0], device=self.device) < self.epsilon).nonzero().view(-1)
if indexes.numel():
actions[indexes] = torch.randint(self.num_actions, (indexes.numel(), 1), device=self.device)
return actions, {}
# load and wrap the gym environment.
# note: the environment version may change depending on the gym version
try:
env = gym.vector.make("Taxi-v3", num_envs=10, asynchronous=False)
except gym.error.DeprecatedEnv as e:
env_id = [spec.id for spec in gym.envs.registry.all() if spec.id.startswith("Taxi-v")][0]
print("Taxi-v3 not found. Trying {}".format(env_id))
env = gym.vector.make(env_id, num_envs=10, asynchronous=False)
env = wrap_env(env)
device = env.device
# instantiate the agent's model (table)
# SARSA requires 1 model, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/sarsa.html#models
models = {}
models["policy"] = EpilonGreedyPolicy(env.observation_space, env.action_space, device, num_envs=env.num_envs, epsilon=0.1)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/sarsa.html#configuration-and-hyperparameters
cfg = SARSA_DEFAULT_CONFIG.copy()
cfg["discount_factor"] = 0.999
cfg["alpha"] = 0.4
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 1600
cfg["experiment"]["checkpoint_interval"] = 8000
cfg["experiment"]["directory"] = "runs/torch/Taxi"
agent = SARSA(models=models,
memory=None,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 80000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 3,117 | Python | 37.02439 | 122 | 0.692974 |
Toni-SM/skrl/docs/source/examples/gym/torch_gym_pendulumnovel_trpo_lstm.py | import gym
import numpy as np
import torch
import torch.nn as nn
# import the skrl components to build the RL system
from skrl.agents.torch.trpo import TRPO_DEFAULT_CONFIG
from skrl.agents.torch.trpo import TRPO_RNN as TRPO
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class Policy(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum",
num_envs=1, num_layers=1, hidden_size=64, sequence_length=128):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
self.num_envs = num_envs
self.num_layers = num_layers
self.hidden_size = hidden_size # Hcell (Hout is Hcell because proj_size = 0)
self.sequence_length = sequence_length
self.lstm = nn.LSTM(input_size=self.num_observations,
hidden_size=self.hidden_size,
num_layers=self.num_layers,
batch_first=True) # batch_first -> (batch, sequence, features)
self.net = nn.Sequential(nn.Linear(self.hidden_size, 64),
nn.ReLU(),
nn.Linear(64, self.num_actions))
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
def get_specification(self):
# batch size (N) is the number of envs
return {"rnn": {"sequence_length": self.sequence_length,
"sizes": [(self.num_layers, self.num_envs, self.hidden_size), # hidden states (D ∗ num_layers, N, Hout)
(self.num_layers, self.num_envs, self.hidden_size)]}} # cell states (D ∗ num_layers, N, Hcell)
def compute(self, inputs, role):
states = inputs["states"]
terminated = inputs.get("terminated", None)
hidden_states, cell_states = inputs["rnn"][0], inputs["rnn"][1]
# training
if self.training:
rnn_input = states.view(-1, self.sequence_length, states.shape[-1]) # (N, L, Hin): N=batch_size, L=sequence_length
hidden_states = hidden_states.view(self.num_layers, -1, self.sequence_length, hidden_states.shape[-1]) # (D * num_layers, N, L, Hout)
cell_states = cell_states.view(self.num_layers, -1, self.sequence_length, cell_states.shape[-1]) # (D * num_layers, N, L, Hcell)
# get the hidden/cell states corresponding to the initial sequence
hidden_states = hidden_states[:,:,0,:].contiguous() # (D * num_layers, N, Hout)
cell_states = cell_states[:,:,0,:].contiguous() # (D * num_layers, N, Hcell)
# reset the RNN state in the middle of a sequence
if terminated is not None and torch.any(terminated):
rnn_outputs = []
terminated = terminated.view(-1, self.sequence_length)
indexes = [0] + (terminated[:,:-1].any(dim=0).nonzero(as_tuple=True)[0] + 1).tolist() + [self.sequence_length]
for i in range(len(indexes) - 1):
i0, i1 = indexes[i], indexes[i + 1]
rnn_output, (hidden_states, cell_states) = self.lstm(rnn_input[:,i0:i1,:], (hidden_states, cell_states))
hidden_states[:, (terminated[:,i1-1]), :] = 0
cell_states[:, (terminated[:,i1-1]), :] = 0
rnn_outputs.append(rnn_output)
rnn_states = (hidden_states, cell_states)
rnn_output = torch.cat(rnn_outputs, dim=1)
# no need to reset the RNN state in the sequence
else:
rnn_output, rnn_states = self.lstm(rnn_input, (hidden_states, cell_states))
# rollout
else:
rnn_input = states.view(-1, 1, states.shape[-1]) # (N, L, Hin): N=num_envs, L=1
rnn_output, rnn_states = self.lstm(rnn_input, (hidden_states, cell_states))
# flatten the RNN output
rnn_output = torch.flatten(rnn_output, start_dim=0, end_dim=1) # (N, L, D ∗ Hout) -> (N * L, D ∗ Hout)
# Pendulum-v1 action_space is -2 to 2
return 2 * torch.tanh(self.net(rnn_output)), self.log_std_parameter, {"rnn": [rnn_states[0], rnn_states[1]]}
class Value(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
num_envs=1, num_layers=1, hidden_size=64, sequence_length=128):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.num_envs = num_envs
self.num_layers = num_layers
self.hidden_size = hidden_size # Hcell (Hout is Hcell because proj_size = 0)
self.sequence_length = sequence_length
self.lstm = nn.LSTM(input_size=self.num_observations,
hidden_size=self.hidden_size,
num_layers=self.num_layers,
batch_first=True) # batch_first -> (batch, sequence, features)
self.net = nn.Sequential(nn.Linear(self.hidden_size, 64),
nn.ReLU(),
nn.Linear(64, 1))
def get_specification(self):
# batch size (N) is the number of envs
return {"rnn": {"sequence_length": self.sequence_length,
"sizes": [(self.num_layers, self.num_envs, self.hidden_size), # hidden states (D ∗ num_layers, N, Hout)
(self.num_layers, self.num_envs, self.hidden_size)]}} # cell states (D ∗ num_layers, N, Hcell)
def compute(self, inputs, role):
states = inputs["states"]
terminated = inputs.get("terminated", None)
hidden_states, cell_states = inputs["rnn"][0], inputs["rnn"][1]
# training
if self.training:
rnn_input = states.view(-1, self.sequence_length, states.shape[-1]) # (N, L, Hin): N=batch_size, L=sequence_length
hidden_states = hidden_states.view(self.num_layers, -1, self.sequence_length, hidden_states.shape[-1]) # (D * num_layers, N, L, Hout)
cell_states = cell_states.view(self.num_layers, -1, self.sequence_length, cell_states.shape[-1]) # (D * num_layers, N, L, Hcell)
# get the hidden/cell states corresponding to the initial sequence
hidden_states = hidden_states[:,:,0,:].contiguous() # (D * num_layers, N, Hout)
cell_states = cell_states[:,:,0,:].contiguous() # (D * num_layers, N, Hcell)
# reset the RNN state in the middle of a sequence
if terminated is not None and torch.any(terminated):
rnn_outputs = []
terminated = terminated.view(-1, self.sequence_length)
indexes = [0] + (terminated[:,:-1].any(dim=0).nonzero(as_tuple=True)[0] + 1).tolist() + [self.sequence_length]
for i in range(len(indexes) - 1):
i0, i1 = indexes[i], indexes[i + 1]
rnn_output, (hidden_states, cell_states) = self.lstm(rnn_input[:,i0:i1,:], (hidden_states, cell_states))
hidden_states[:, (terminated[:,i1-1]), :] = 0
cell_states[:, (terminated[:,i1-1]), :] = 0
rnn_outputs.append(rnn_output)
rnn_states = (hidden_states, cell_states)
rnn_output = torch.cat(rnn_outputs, dim=1)
# no need to reset the RNN state in the sequence
else:
rnn_output, rnn_states = self.lstm(rnn_input, (hidden_states, cell_states))
# rollout
else:
rnn_input = states.view(-1, 1, states.shape[-1]) # (N, L, Hin): N=num_envs, L=1
rnn_output, rnn_states = self.lstm(rnn_input, (hidden_states, cell_states))
# flatten the RNN output
rnn_output = torch.flatten(rnn_output, start_dim=0, end_dim=1) # (N, L, D ∗ Hout) -> (N * L, D ∗ Hout)
return self.net(rnn_output), {"rnn": [rnn_states[0], rnn_states[1]]}
# environment observation wrapper used to mask velocity. Adapted from rl_zoo3 (rl_zoo3/wrappers.py)
class NoVelocityWrapper(gym.ObservationWrapper):
def observation(self, observation):
# observation: x, y, angular velocity
return observation * np.array([1, 1, 0])
gym.envs.registration.register(id="PendulumNoVel-v1", entry_point=lambda: NoVelocityWrapper(gym.make("Pendulum-v1")))
# load and wrap the gym environment
env = gym.vector.make("PendulumNoVel-v1", num_envs=4, asynchronous=False)
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=1024, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# TRPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/trpo.html#models
models = {}
models["policy"] = Policy(env.observation_space, env.action_space, device, clip_actions=True, num_envs=env.num_envs)
models["value"] = Value(env.observation_space, env.action_space, device, num_envs=env.num_envs)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/trpo.html#configuration-and-hyperparameters
cfg = TRPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 1024 # memory_size
cfg["learning_epochs"] = 10
cfg["mini_batches"] = 32
cfg["discount_factor"] = 0.9
cfg["lambda"] = 0.95
cfg["learning_rate"] = 1e-3
cfg["grad_norm_clip"] = 0.5
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 500
cfg["experiment"]["checkpoint_interval"] = 5000
cfg["experiment"]["directory"] = "runs/torch/PendulumNoVel"
agent = TRPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 100000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 10,998 | Python | 48.102678 | 146 | 0.612748 |
Toni-SM/skrl/docs/source/examples/gym/torch_gym_cartpole_cem.py | import gym
import torch.nn as nn
import torch.nn.functional as F
# import the skrl components to build the RL system
from skrl.agents.torch.cem import CEM, CEM_DEFAULT_CONFIG
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import CategoricalMixin, Model
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define model (categorical model) using mixin
class Policy(CategoricalMixin, Model):
def __init__(self, observation_space, action_space, device, unnormalized_log_prob=True):
Model.__init__(self, observation_space, action_space, device)
CategoricalMixin.__init__(self, unnormalized_log_prob)
self.linear_layer_1 = nn.Linear(self.num_observations, 64)
self.linear_layer_2 = nn.Linear(64, 64)
self.output_layer = nn.Linear(64, self.num_actions)
def compute(self, inputs, role):
x = F.relu(self.linear_layer_1(inputs["states"]))
x = F.relu(self.linear_layer_2(x))
return self.output_layer(x), {}
# load and wrap the gym environment.
# note: the environment version may change depending on the gym version
try:
env = gym.make("CartPole-v0")
except gym.error.DeprecatedEnv as e:
env_id = [spec.id for spec in gym.envs.registry.all() if spec.id.startswith("CartPole-v")][0]
print("CartPole-v0 not found. Trying {}".format(env_id))
env = gym.make(env_id)
env = wrap_env(env)
device = env.device
# instantiate a memory as experience replay
memory = RandomMemory(memory_size=1000, num_envs=env.num_envs, device=device, replacement=False)
# instantiate the agent's model (function approximator).
# CEM requires 1 model, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/cem.html#models
models = {}
models["policy"] = Policy(env.observation_space, env.action_space, device)
# initialize models' parameters (weights and biases)
for model in models.values():
model.init_parameters(method_name="normal_", mean=0.0, std=0.1)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/cem.html#configuration-and-hyperparameters
cfg = CEM_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 1000
cfg["learning_starts"] = 100
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 1000
cfg["experiment"]["checkpoint_interval"] = 5000
cfg["experiment"]["directory"] = "runs/torch/CartPole"
agent = CEM(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 100000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 3,015 | Python | 33.666666 | 97 | 0.719071 |
Toni-SM/skrl/docs/source/examples/gym/torch_gym_pendulumnovel_ppo_lstm.py | import gym
import numpy as np
import torch
import torch.nn as nn
# import the skrl components to build the RL system
from skrl.agents.torch.ppo import PPO_DEFAULT_CONFIG
from skrl.agents.torch.ppo import PPO_RNN as PPO
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.resources.schedulers.torch import KLAdaptiveRL
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class Policy(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum",
num_envs=1, num_layers=1, hidden_size=64, sequence_length=128):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
self.num_envs = num_envs
self.num_layers = num_layers
self.hidden_size = hidden_size # Hcell (Hout is Hcell because proj_size = 0)
self.sequence_length = sequence_length
self.lstm = nn.LSTM(input_size=self.num_observations,
hidden_size=self.hidden_size,
num_layers=self.num_layers,
batch_first=True) # batch_first -> (batch, sequence, features)
self.net = nn.Sequential(nn.Linear(self.hidden_size, 64),
nn.ReLU(),
nn.Linear(64, self.num_actions))
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
def get_specification(self):
# batch size (N) is the number of envs
return {"rnn": {"sequence_length": self.sequence_length,
"sizes": [(self.num_layers, self.num_envs, self.hidden_size), # hidden states (D ∗ num_layers, N, Hout)
(self.num_layers, self.num_envs, self.hidden_size)]}} # cell states (D ∗ num_layers, N, Hcell)
def compute(self, inputs, role):
states = inputs["states"]
terminated = inputs.get("terminated", None)
hidden_states, cell_states = inputs["rnn"][0], inputs["rnn"][1]
# training
if self.training:
rnn_input = states.view(-1, self.sequence_length, states.shape[-1]) # (N, L, Hin): N=batch_size, L=sequence_length
hidden_states = hidden_states.view(self.num_layers, -1, self.sequence_length, hidden_states.shape[-1]) # (D * num_layers, N, L, Hout)
cell_states = cell_states.view(self.num_layers, -1, self.sequence_length, cell_states.shape[-1]) # (D * num_layers, N, L, Hcell)
# get the hidden/cell states corresponding to the initial sequence
hidden_states = hidden_states[:,:,0,:].contiguous() # (D * num_layers, N, Hout)
cell_states = cell_states[:,:,0,:].contiguous() # (D * num_layers, N, Hcell)
# reset the RNN state in the middle of a sequence
if terminated is not None and torch.any(terminated):
rnn_outputs = []
terminated = terminated.view(-1, self.sequence_length)
indexes = [0] + (terminated[:,:-1].any(dim=0).nonzero(as_tuple=True)[0] + 1).tolist() + [self.sequence_length]
for i in range(len(indexes) - 1):
i0, i1 = indexes[i], indexes[i + 1]
rnn_output, (hidden_states, cell_states) = self.lstm(rnn_input[:,i0:i1,:], (hidden_states, cell_states))
hidden_states[:, (terminated[:,i1-1]), :] = 0
cell_states[:, (terminated[:,i1-1]), :] = 0
rnn_outputs.append(rnn_output)
rnn_states = (hidden_states, cell_states)
rnn_output = torch.cat(rnn_outputs, dim=1)
# no need to reset the RNN state in the sequence
else:
rnn_output, rnn_states = self.lstm(rnn_input, (hidden_states, cell_states))
# rollout
else:
rnn_input = states.view(-1, 1, states.shape[-1]) # (N, L, Hin): N=num_envs, L=1
rnn_output, rnn_states = self.lstm(rnn_input, (hidden_states, cell_states))
# flatten the RNN output
rnn_output = torch.flatten(rnn_output, start_dim=0, end_dim=1) # (N, L, D ∗ Hout) -> (N * L, D ∗ Hout)
# Pendulum-v1 action_space is -2 to 2
return 2 * torch.tanh(self.net(rnn_output)), self.log_std_parameter, {"rnn": [rnn_states[0], rnn_states[1]]}
class Value(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
num_envs=1, num_layers=1, hidden_size=64, sequence_length=128):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.num_envs = num_envs
self.num_layers = num_layers
self.hidden_size = hidden_size # Hcell (Hout is Hcell because proj_size = 0)
self.sequence_length = sequence_length
self.lstm = nn.LSTM(input_size=self.num_observations,
hidden_size=self.hidden_size,
num_layers=self.num_layers,
batch_first=True) # batch_first -> (batch, sequence, features)
self.net = nn.Sequential(nn.Linear(self.hidden_size, 64),
nn.ReLU(),
nn.Linear(64, 1))
def get_specification(self):
# batch size (N) is the number of envs
return {"rnn": {"sequence_length": self.sequence_length,
"sizes": [(self.num_layers, self.num_envs, self.hidden_size), # hidden states (D ∗ num_layers, N, Hout)
(self.num_layers, self.num_envs, self.hidden_size)]}} # cell states (D ∗ num_layers, N, Hcell)
def compute(self, inputs, role):
states = inputs["states"]
terminated = inputs.get("terminated", None)
hidden_states, cell_states = inputs["rnn"][0], inputs["rnn"][1]
# training
if self.training:
rnn_input = states.view(-1, self.sequence_length, states.shape[-1]) # (N, L, Hin): N=batch_size, L=sequence_length
hidden_states = hidden_states.view(self.num_layers, -1, self.sequence_length, hidden_states.shape[-1]) # (D * num_layers, N, L, Hout)
cell_states = cell_states.view(self.num_layers, -1, self.sequence_length, cell_states.shape[-1]) # (D * num_layers, N, L, Hcell)
# get the hidden/cell states corresponding to the initial sequence
hidden_states = hidden_states[:,:,0,:].contiguous() # (D * num_layers, N, Hout)
cell_states = cell_states[:,:,0,:].contiguous() # (D * num_layers, N, Hcell)
# reset the RNN state in the middle of a sequence
if terminated is not None and torch.any(terminated):
rnn_outputs = []
terminated = terminated.view(-1, self.sequence_length)
indexes = [0] + (terminated[:,:-1].any(dim=0).nonzero(as_tuple=True)[0] + 1).tolist() + [self.sequence_length]
for i in range(len(indexes) - 1):
i0, i1 = indexes[i], indexes[i + 1]
rnn_output, (hidden_states, cell_states) = self.lstm(rnn_input[:,i0:i1,:], (hidden_states, cell_states))
hidden_states[:, (terminated[:,i1-1]), :] = 0
cell_states[:, (terminated[:,i1-1]), :] = 0
rnn_outputs.append(rnn_output)
rnn_states = (hidden_states, cell_states)
rnn_output = torch.cat(rnn_outputs, dim=1)
# no need to reset the RNN state in the sequence
else:
rnn_output, rnn_states = self.lstm(rnn_input, (hidden_states, cell_states))
# rollout
else:
rnn_input = states.view(-1, 1, states.shape[-1]) # (N, L, Hin): N=num_envs, L=1
rnn_output, rnn_states = self.lstm(rnn_input, (hidden_states, cell_states))
# flatten the RNN output
rnn_output = torch.flatten(rnn_output, start_dim=0, end_dim=1) # (N, L, D ∗ Hout) -> (N * L, D ∗ Hout)
return self.net(rnn_output), {"rnn": [rnn_states[0], rnn_states[1]]}
# environment observation wrapper used to mask velocity. Adapted from rl_zoo3 (rl_zoo3/wrappers.py)
class NoVelocityWrapper(gym.ObservationWrapper):
def observation(self, observation):
# observation: x, y, angular velocity
return observation * np.array([1, 1, 0])
gym.envs.registration.register(id="PendulumNoVel-v1", entry_point=lambda: NoVelocityWrapper(gym.make("Pendulum-v1")))
# load and wrap the gym environment
env = gym.vector.make("PendulumNoVel-v1", num_envs=4, asynchronous=False)
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=1024, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# PPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#models
models = {}
models["policy"] = Policy(env.observation_space, env.action_space, device, clip_actions=True, num_envs=env.num_envs)
models["value"] = Value(env.observation_space, env.action_space, device, num_envs=env.num_envs)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#configuration-and-hyperparameters
cfg = PPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 1024 # memory_size
cfg["learning_epochs"] = 10
cfg["mini_batches"] = 32
cfg["discount_factor"] = 0.9
cfg["lambda"] = 0.95
cfg["learning_rate"] = 1e-3
cfg["learning_rate_scheduler"] = KLAdaptiveRL
cfg["learning_rate_scheduler_kwargs"] = {"kl_threshold": 0.008}
cfg["grad_norm_clip"] = 0.5
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = False
cfg["entropy_loss_scale"] = 0.0
cfg["value_loss_scale"] = 0.5
cfg["kl_threshold"] = 0
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 500
cfg["experiment"]["checkpoint_interval"] = 5000
cfg["experiment"]["directory"] = "runs/torch/PendulumNoVel"
agent = PPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 100000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 11,321 | Python | 47.592274 | 146 | 0.61567 |
Toni-SM/skrl/docs/source/examples/gym/torch_gym_pendulumnovel_ppo_rnn.py | import gym
import numpy as np
import torch
import torch.nn as nn
# import the skrl components to build the RL system
from skrl.agents.torch.ppo import PPO_DEFAULT_CONFIG
from skrl.agents.torch.ppo import PPO_RNN as PPO
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.resources.schedulers.torch import KLAdaptiveRL
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class Policy(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum",
num_envs=1, num_layers=1, hidden_size=64, sequence_length=128):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
self.num_envs = num_envs
self.num_layers = num_layers
self.hidden_size = hidden_size # Hout
self.sequence_length = sequence_length
self.rnn = nn.RNN(input_size=self.num_observations,
hidden_size=self.hidden_size,
num_layers=self.num_layers,
batch_first=True) # batch_first -> (batch, sequence, features)
self.net = nn.Sequential(nn.Linear(self.hidden_size, 64),
nn.ReLU(),
nn.Linear(64, self.num_actions))
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
def get_specification(self):
# batch size (N) is the number of envs
return {"rnn": {"sequence_length": self.sequence_length,
"sizes": [(self.num_layers, self.num_envs, self.hidden_size)]}} # hidden states (D ∗ num_layers, N, Hout)
def compute(self, inputs, role):
states = inputs["states"]
terminated = inputs.get("terminated", None)
hidden_states = inputs["rnn"][0]
# training
if self.training:
rnn_input = states.view(-1, self.sequence_length, states.shape[-1]) # (N, L, Hin): N=batch_size, L=sequence_length
hidden_states = hidden_states.view(self.num_layers, -1, self.sequence_length, hidden_states.shape[-1]) # (D * num_layers, N, L, Hout)
# get the hidden states corresponding to the initial sequence
hidden_states = hidden_states[:,:,0,:].contiguous() # (D * num_layers, N, Hout)
# reset the RNN state in the middle of a sequence
if terminated is not None and torch.any(terminated):
rnn_outputs = []
terminated = terminated.view(-1, self.sequence_length)
indexes = [0] + (terminated[:,:-1].any(dim=0).nonzero(as_tuple=True)[0] + 1).tolist() + [self.sequence_length]
for i in range(len(indexes) - 1):
i0, i1 = indexes[i], indexes[i + 1]
rnn_output, hidden_states = self.rnn(rnn_input[:,i0:i1,:], hidden_states)
hidden_states[:, (terminated[:,i1-1]), :] = 0
rnn_outputs.append(rnn_output)
rnn_output = torch.cat(rnn_outputs, dim=1)
# no need to reset the RNN state in the sequence
else:
rnn_output, hidden_states = self.rnn(rnn_input, hidden_states)
# rollout
else:
rnn_input = states.view(-1, 1, states.shape[-1]) # (N, L, Hin): N=num_envs, L=1
rnn_output, hidden_states = self.rnn(rnn_input, hidden_states)
# flatten the RNN output
rnn_output = torch.flatten(rnn_output, start_dim=0, end_dim=1) # (N, L, D ∗ Hout) -> (N * L, D ∗ Hout)
# Pendulum-v1 action_space is -2 to 2
return 2 * torch.tanh(self.net(rnn_output)), self.log_std_parameter, {"rnn": [hidden_states]}
class Value(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
num_envs=1, num_layers=1, hidden_size=64, sequence_length=128):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.num_envs = num_envs
self.num_layers = num_layers
self.hidden_size = hidden_size # Hout
self.sequence_length = sequence_length
self.rnn = nn.RNN(input_size=self.num_observations,
hidden_size=self.hidden_size,
num_layers=self.num_layers,
batch_first=True) # batch_first -> (batch, sequence, features)
self.net = nn.Sequential(nn.Linear(self.hidden_size, 64),
nn.ReLU(),
nn.Linear(64, 1))
def get_specification(self):
# batch size (N) is the number of envs
return {"rnn": {"sequence_length": self.sequence_length,
"sizes": [(self.num_layers, self.num_envs, self.hidden_size)]}} # hidden states (D ∗ num_layers, N, Hout)
def compute(self, inputs, role):
states = inputs["states"]
terminated = inputs.get("terminated", None)
hidden_states = inputs["rnn"][0]
# training
if self.training:
rnn_input = states.view(-1, self.sequence_length, states.shape[-1]) # (N, L, Hin): N=batch_size, L=sequence_length
hidden_states = hidden_states.view(self.num_layers, -1, self.sequence_length, hidden_states.shape[-1]) # (D * num_layers, N, L, Hout)
# get the hidden states corresponding to the initial sequence
hidden_states = hidden_states[:,:,0,:].contiguous() # (D * num_layers, N, Hout)
# reset the RNN state in the middle of a sequence
if terminated is not None and torch.any(terminated):
rnn_outputs = []
terminated = terminated.view(-1, self.sequence_length)
indexes = [0] + (terminated[:,:-1].any(dim=0).nonzero(as_tuple=True)[0] + 1).tolist() + [self.sequence_length]
for i in range(len(indexes) - 1):
i0, i1 = indexes[i], indexes[i + 1]
rnn_output, hidden_states = self.rnn(rnn_input[:,i0:i1,:], hidden_states)
hidden_states[:, (terminated[:,i1-1]), :] = 0
rnn_outputs.append(rnn_output)
rnn_output = torch.cat(rnn_outputs, dim=1)
# no need to reset the RNN state in the sequence
else:
rnn_output, hidden_states = self.rnn(rnn_input, hidden_states)
# rollout
else:
rnn_input = states.view(-1, 1, states.shape[-1]) # (N, L, Hin): N=num_envs, L=1
rnn_output, hidden_states = self.rnn(rnn_input, hidden_states)
# flatten the RNN output
rnn_output = torch.flatten(rnn_output, start_dim=0, end_dim=1) # (N, L, D ∗ Hout) -> (N * L, D ∗ Hout)
return self.net(rnn_output), {"rnn": [hidden_states]}
# environment observation wrapper used to mask velocity. Adapted from rl_zoo3 (rl_zoo3/wrappers.py)
class NoVelocityWrapper(gym.ObservationWrapper):
def observation(self, observation):
# observation: x, y, angular velocity
return observation * np.array([1, 1, 0])
gym.envs.registration.register(id="PendulumNoVel-v1", entry_point=lambda: NoVelocityWrapper(gym.make("Pendulum-v1")))
# load and wrap the gym environment
env = gym.vector.make("PendulumNoVel-v1", num_envs=4, asynchronous=False)
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=1024, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# PPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#models
models = {}
models["policy"] = Policy(env.observation_space, env.action_space, device, clip_actions=True, num_envs=env.num_envs)
models["value"] = Value(env.observation_space, env.action_space, device, num_envs=env.num_envs)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#configuration-and-hyperparameters
cfg = PPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 1024 # memory_size
cfg["learning_epochs"] = 10
cfg["mini_batches"] = 32
cfg["discount_factor"] = 0.9
cfg["lambda"] = 0.95
cfg["learning_rate"] = 1e-3
cfg["learning_rate_scheduler"] = KLAdaptiveRL
cfg["learning_rate_scheduler_kwargs"] = {"kl_threshold": 0.008}
cfg["grad_norm_clip"] = 0.5
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = False
cfg["entropy_loss_scale"] = 0.0
cfg["value_loss_scale"] = 0.5
cfg["kl_threshold"] = 0
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 500
cfg["experiment"]["checkpoint_interval"] = 5000
cfg["experiment"]["directory"] = "runs/torch/PendulumNoVel"
agent = PPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 100000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 10,039 | Python | 44.022421 | 146 | 0.623767 |
Toni-SM/skrl/docs/source/examples/gym/torch_gym_pendulumnovel_sac_lstm.py | import gym
import numpy as np
import torch
import torch.nn as nn
import torch.nn.functional as F
# import the skrl components to build the RL system
from skrl.agents.torch.sac import SAC_DEFAULT_CONFIG
from skrl.agents.torch.sac import SAC_RNN as SAC
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class Actor(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum",
num_envs=1, num_layers=1, hidden_size=400, sequence_length=20):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
self.num_envs = num_envs
self.num_layers = num_layers
self.hidden_size = hidden_size # Hcell (Hout is Hcell because proj_size = 0)
self.sequence_length = sequence_length
self.lstm = nn.LSTM(input_size=self.num_observations,
hidden_size=self.hidden_size,
num_layers=self.num_layers,
batch_first=True) # batch_first -> (batch, sequence, features)
self.linear_layer_1 = nn.Linear(self.hidden_size, 400)
self.linear_layer_2 = nn.Linear(400, 300)
self.action_layer = nn.Linear(300, self.num_actions)
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
def get_specification(self):
# batch size (N) is the number of envs
return {"rnn": {"sequence_length": self.sequence_length,
"sizes": [(self.num_layers, self.num_envs, self.hidden_size), # hidden states (D ∗ num_layers, N, Hout)
(self.num_layers, self.num_envs, self.hidden_size)]}} # cell states (D ∗ num_layers, N, Hcell)
def compute(self, inputs, role):
states = inputs["states"]
terminated = inputs.get("terminated", None)
hidden_states, cell_states = inputs["rnn"][0], inputs["rnn"][1]
# training
if self.training:
rnn_input = states.view(-1, self.sequence_length, states.shape[-1]) # (N, L, Hin): N=batch_size, L=sequence_length
hidden_states = hidden_states.view(self.num_layers, -1, self.sequence_length, hidden_states.shape[-1]) # (D * num_layers, N, L, Hout)
cell_states = cell_states.view(self.num_layers, -1, self.sequence_length, cell_states.shape[-1]) # (D * num_layers, N, L, Hcell)
# get the hidden/cell states corresponding to the initial sequence
hidden_states = hidden_states[:,:,0,:].contiguous() # (D * num_layers, N, Hout)
cell_states = cell_states[:,:,0,:].contiguous() # (D * num_layers, N, Hcell)
# reset the RNN state in the middle of a sequence
if terminated is not None and torch.any(terminated):
rnn_outputs = []
terminated = terminated.view(-1, self.sequence_length)
indexes = [0] + (terminated[:,:-1].any(dim=0).nonzero(as_tuple=True)[0] + 1).tolist() + [self.sequence_length]
for i in range(len(indexes) - 1):
i0, i1 = indexes[i], indexes[i + 1]
rnn_output, (hidden_states, cell_states) = self.lstm(rnn_input[:,i0:i1,:], (hidden_states, cell_states))
hidden_states[:, (terminated[:,i1-1]), :] = 0
cell_states[:, (terminated[:,i1-1]), :] = 0
rnn_outputs.append(rnn_output)
rnn_states = (hidden_states, cell_states)
rnn_output = torch.cat(rnn_outputs, dim=1)
# no need to reset the RNN state in the sequence
else:
rnn_output, rnn_states = self.lstm(rnn_input, (hidden_states, cell_states))
# rollout
else:
rnn_input = states.view(-1, 1, states.shape[-1]) # (N, L, Hin): N=num_envs, L=1
rnn_output, rnn_states = self.lstm(rnn_input, (hidden_states, cell_states))
# flatten the RNN output
rnn_output = torch.flatten(rnn_output, start_dim=0, end_dim=1) # (N, L, D ∗ Hout) -> (N * L, D ∗ Hout)
x = F.relu(self.linear_layer_1(rnn_output))
x = F.relu(self.linear_layer_2(x))
# Pendulum-v1 action_space is -2 to 2
return 2 * torch.tanh(self.action_layer(x)), self.log_std_parameter, {"rnn": [rnn_states[0], rnn_states[1]]}
class Critic(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
num_envs=1, num_layers=1, hidden_size=400, sequence_length=20):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.num_envs = num_envs
self.num_layers = num_layers
self.hidden_size = hidden_size # Hcell (Hout is Hcell because proj_size = 0)
self.sequence_length = sequence_length
self.lstm = nn.LSTM(input_size=self.num_observations,
hidden_size=self.hidden_size,
num_layers=self.num_layers,
batch_first=True) # batch_first -> (batch, sequence, features)
self.linear_layer_1 = nn.Linear(self.hidden_size + self.num_actions, 400)
self.linear_layer_2 = nn.Linear(400, 300)
self.linear_layer_3 = nn.Linear(300, 1)
def get_specification(self):
# batch size (N) is the number of envs
return {"rnn": {"sequence_length": self.sequence_length,
"sizes": [(self.num_layers, self.num_envs, self.hidden_size), # hidden states (D ∗ num_layers, N, Hout)
(self.num_layers, self.num_envs, self.hidden_size)]}} # cell states (D ∗ num_layers, N, Hcell)
def compute(self, inputs, role):
states = inputs["states"]
terminated = inputs.get("terminated", None)
hidden_states, cell_states = inputs["rnn"][0], inputs["rnn"][1]
# critic is only used during training
rnn_input = states.view(-1, self.sequence_length, states.shape[-1]) # (N, L, Hin): N=batch_size, L=sequence_length
hidden_states = hidden_states.view(self.num_layers, -1, self.sequence_length, hidden_states.shape[-1]) # (D * num_layers, N, L, Hout)
cell_states = cell_states.view(self.num_layers, -1, self.sequence_length, cell_states.shape[-1]) # (D * num_layers, N, L, Hcell)
# get the hidden/cell states corresponding to the initial sequence
sequence_index = 1 if role in ["target_critic_1", "target_critic_2"] else 0 # target networks act on the next state of the environment
hidden_states = hidden_states[:,:,sequence_index,:].contiguous() # (D * num_layers, N, Hout)
cell_states = cell_states[:,:,sequence_index,:].contiguous() # (D * num_layers, N, Hcell)
# reset the RNN state in the middle of a sequence
if terminated is not None and torch.any(terminated):
rnn_outputs = []
terminated = terminated.view(-1, self.sequence_length)
indexes = [0] + (terminated[:,:-1].any(dim=0).nonzero(as_tuple=True)[0] + 1).tolist() + [self.sequence_length]
for i in range(len(indexes) - 1):
i0, i1 = indexes[i], indexes[i + 1]
rnn_output, (hidden_states, cell_states) = self.lstm(rnn_input[:,i0:i1,:], (hidden_states, cell_states))
hidden_states[:, (terminated[:,i1-1]), :] = 0
cell_states[:, (terminated[:,i1-1]), :] = 0
rnn_outputs.append(rnn_output)
rnn_states = (hidden_states, cell_states)
rnn_output = torch.cat(rnn_outputs, dim=1)
# no need to reset the RNN state in the sequence
else:
rnn_output, rnn_states = self.lstm(rnn_input, (hidden_states, cell_states))
# flatten the RNN output
rnn_output = torch.flatten(rnn_output, start_dim=0, end_dim=1) # (N, L, D ∗ Hout) -> (N * L, D ∗ Hout)
x = F.relu(self.linear_layer_1(torch.cat([rnn_output, inputs["taken_actions"]], dim=1)))
x = F.relu(self.linear_layer_2(x))
return self.linear_layer_3(x), {"rnn": [rnn_states[0], rnn_states[1]]}
# environment observation wrapper used to mask velocity. Adapted from rl_zoo3 (rl_zoo3/wrappers.py)
class NoVelocityWrapper(gym.ObservationWrapper):
def observation(self, observation):
# observation: x, y, angular velocity
return observation * np.array([1, 1, 0])
gym.envs.registration.register(id="PendulumNoVel-v1", entry_point=lambda: NoVelocityWrapper(gym.make("Pendulum-v1")))
# load and wrap the gym environment
env = gym.make("PendulumNoVel-v1")
env = wrap_env(env)
device = env.device
# instantiate a memory as experience replay
memory = RandomMemory(memory_size=20000, num_envs=env.num_envs, device=device, replacement=False)
# instantiate the agent's models (function approximators).
# SAC requires 5 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/sac.html#models
models = {}
models["policy"] = Actor(env.observation_space, env.action_space, device, clip_actions=True, num_envs=env.num_envs)
models["critic_1"] = Critic(env.observation_space, env.action_space, device, num_envs=env.num_envs)
models["critic_2"] = Critic(env.observation_space, env.action_space, device, num_envs=env.num_envs)
models["target_critic_1"] = Critic(env.observation_space, env.action_space, device, num_envs=env.num_envs)
models["target_critic_2"] = Critic(env.observation_space, env.action_space, device, num_envs=env.num_envs)
# initialize models' parameters (weights and biases)
for model in models.values():
model.init_parameters(method_name="normal_", mean=0.0, std=0.1)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/sac.html#configuration-and-hyperparameters
cfg = SAC_DEFAULT_CONFIG.copy()
cfg["discount_factor"] = 0.98
cfg["batch_size"] = 100
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 1000
cfg["learn_entropy"] = True
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 75
cfg["experiment"]["checkpoint_interval"] = 750
cfg["experiment"]["directory"] = "runs/torch/PendulumNoVel"
agent = SAC(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 15000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 11,182 | Python | 48.048245 | 146 | 0.628957 |
Toni-SM/skrl/docs/source/examples/gym/torch_gym_cartpole_dqn.py | import gym
# import the skrl components to build the RL system
from skrl.agents.torch.dqn import DQN, DQN_DEFAULT_CONFIG
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
from skrl.utils.model_instantiators.torch import Shape, deterministic_model
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# load and wrap the gym environment.
# note: the environment version may change depending on the gym version
try:
env = gym.make("CartPole-v0")
except gym.error.DeprecatedEnv as e:
env_id = [spec.id for spec in gym.envs.registry.all() if spec.id.startswith("CartPole-v")][0]
print("CartPole-v0 not found. Trying {}".format(env_id))
env = gym.make(env_id)
env = wrap_env(env)
device = env.device
# instantiate a memory as experience replay
memory = RandomMemory(memory_size=50000, num_envs=env.num_envs, device=device, replacement=False)
# instantiate the agent's models (function approximators) using the model instantiator utility.
# DQN requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/dqn.html#models
models = {}
models["q_network"] = deterministic_model(observation_space=env.observation_space,
action_space=env.action_space,
device=device,
clip_actions=False,
input_shape=Shape.OBSERVATIONS,
hiddens=[64, 64],
hidden_activation=["relu", "relu"],
output_shape=Shape.ACTIONS,
output_activation=None,
output_scale=1.0)
models["target_q_network"] = deterministic_model(observation_space=env.observation_space,
action_space=env.action_space,
device=device,
clip_actions=False,
input_shape=Shape.OBSERVATIONS,
hiddens=[64, 64],
hidden_activation=["relu", "relu"],
output_shape=Shape.ACTIONS,
output_activation=None,
output_scale=1.0)
# initialize models' parameters (weights and biases)
for model in models.values():
model.init_parameters(method_name="normal_", mean=0.0, std=0.1)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/dqn.html#configuration-and-hyperparameters
cfg = DQN_DEFAULT_CONFIG.copy()
cfg["learning_starts"] = 100
cfg["exploration"]["final_epsilon"] = 0.04
cfg["exploration"]["timesteps"] = 1500
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 1000
cfg["experiment"]["checkpoint_interval"] = 5000
cfg["experiment"]["directory"] = "runs/torch/CartPole"
agent = DQN(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 50000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 3,773 | Python | 41.886363 | 97 | 0.584416 |
Toni-SM/skrl/docs/source/examples/gym/torch_gym_cartpole_vector_dqn.py | import gym
# import the skrl components to build the RL system
from skrl.agents.torch.dqn import DQN, DQN_DEFAULT_CONFIG
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
from skrl.utils.model_instantiators.torch import Shape, deterministic_model
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# load and wrap the gym environment.
# note: the environment version may change depending on the gym version
try:
env = gym.vector.make("CartPole-v0", num_envs=5, asynchronous=False)
except gym.error.DeprecatedEnv as e:
env_id = [spec.id for spec in gym.envs.registry.all() if spec.id.startswith("CartPole-v")][0]
print("CartPole-v0 not found. Trying {}".format(env_id))
env = gym.vector.make(env_id, num_envs=5, asynchronous=False)
env = wrap_env(env)
device = env.device
# instantiate a memory as experience replay
memory = RandomMemory(memory_size=200000, num_envs=env.num_envs, device=device, replacement=False)
# instantiate the agent's models (function approximators) using the model instantiator utility.
# DQN requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/dqn.html#models
models = {}
models["q_network"] = deterministic_model(observation_space=env.observation_space,
action_space=env.action_space,
device=device,
clip_actions=False,
input_shape=Shape.OBSERVATIONS,
hiddens=[64, 64],
hidden_activation=["relu", "relu"],
output_shape=Shape.ACTIONS,
output_activation=None,
output_scale=1.0)
models["target_q_network"] = deterministic_model(observation_space=env.observation_space,
action_space=env.action_space,
device=device,
clip_actions=False,
input_shape=Shape.OBSERVATIONS,
hiddens=[64, 64],
hidden_activation=["relu", "relu"],
output_shape=Shape.ACTIONS,
output_activation=None,
output_scale=1.0)
# initialize models' parameters (weights and biases)
for model in models.values():
model.init_parameters(method_name="normal_", mean=0.0, std=0.1)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/dqn.html#configuration-and-hyperparameters
cfg = DQN_DEFAULT_CONFIG.copy()
cfg["learning_starts"] = 100
cfg["exploration"]["final_epsilon"] = 0.04
cfg["exploration"]["timesteps"] = 1500
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 1000
cfg["experiment"]["checkpoint_interval"] = 5000
cfg["experiment"]["directory"] = "runs/torch/CartPole"
agent = DQN(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 50000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 3,852 | Python | 42.78409 | 98 | 0.588785 |
Toni-SM/skrl/docs/source/examples/gym/jax_gym_pendulum_td3.py | import gym
import flax.linen as nn
import jax
import jax.numpy as jnp
# import the skrl components to build the RL system
from skrl import config
from skrl.agents.jax.td3 import TD3, TD3_DEFAULT_CONFIG
from skrl.envs.wrappers.jax import wrap_env
from skrl.memories.jax import RandomMemory
from skrl.models.jax import DeterministicMixin, Model
from skrl.resources.noises.jax import GaussianNoise
from skrl.trainers.jax import SequentialTrainer
from skrl.utils import set_seed
config.jax.backend = "numpy" # or "jax"
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (deterministic models) using mixin
class Actor(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False, **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
DeterministicMixin.__init__(self, clip_actions)
@nn.compact
def __call__(self, inputs, role):
x = nn.relu(nn.Dense(400)(inputs["states"]))
x = nn.relu(nn.Dense(300)(x))
x = nn.Dense(self.num_actions)(x)
# Pendulum-v1 action_space is -2 to 2
return 2 * nn.tanh(x), {}
class Critic(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False, **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
DeterministicMixin.__init__(self, clip_actions)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = jnp.concatenate([inputs["states"], inputs["taken_actions"]], axis=-1)
x = nn.relu(nn.Dense(400)(x))
x = nn.relu(nn.Dense(300)(x))
x = nn.Dense(1)(x)
return x, {}
# load and wrap the gym environment.
# note: the environment version may change depending on the gym version
try:
env = gym.make("Pendulum-v1")
except gym.error.DeprecatedEnv as e:
env_id = [spec.id for spec in gym.envs.registry.all() if spec.id.startswith("Pendulum-v")][0]
print("Pendulum-v1 not found. Trying {}".format(env_id))
env = gym.make(env_id)
env = wrap_env(env)
device = env.device
# instantiate a memory as experience replay
memory = RandomMemory(memory_size=20000, num_envs=env.num_envs, device=device, replacement=False)
# instantiate the agent's models (function approximators).
# TD3 requires 6 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/td3.html#models
models = {}
models["policy"] = Actor(env.observation_space, env.action_space, device)
models["target_policy"] = Actor(env.observation_space, env.action_space, device)
models["critic_1"] = Critic(env.observation_space, env.action_space, device)
models["critic_2"] = Critic(env.observation_space, env.action_space, device)
models["target_critic_1"] = Critic(env.observation_space, env.action_space, device)
models["target_critic_2"] = Critic(env.observation_space, env.action_space, device)
# instantiate models' state dict
for role, model in models.items():
model.init_state_dict(role)
# initialize models' parameters (weights and biases)
for model in models.values():
model.init_parameters(method_name="normal", stddev=0.1)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/td3.html#configuration-and-hyperparameters
cfg = TD3_DEFAULT_CONFIG.copy()
cfg["exploration"]["noise"] = GaussianNoise(0, 0.1, device=device)
cfg["smooth_regularization_noise"] = GaussianNoise(0, 0.2, device=device)
cfg["smooth_regularization_clip"] = 0.5
cfg["discount_factor"] = 0.98
cfg["batch_size"] = 100
cfg["random_timesteps"] = 1000
cfg["learning_starts"] = 1000
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 75
cfg["experiment"]["checkpoint_interval"] = 750
cfg["experiment"]["directory"] = "runs/jax/Pendulum"
agent = TD3(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 15000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 4,396 | Python | 35.94958 | 99 | 0.708144 |
Toni-SM/skrl/docs/source/examples/gym/jax_gym_pendulum_ppo.py | import gym
import flax.linen as nn
import jax
import jax.numpy as jnp
# import the skrl components to build the RL system
from skrl import config
from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG
from skrl.envs.wrappers.jax import wrap_env
from skrl.memories.jax import RandomMemory
from skrl.models.jax import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.jax import RunningStandardScaler
from skrl.resources.schedulers.jax import KLAdaptiveRL
from skrl.trainers.jax import SequentialTrainer
from skrl.utils import set_seed
config.jax.backend = "numpy" # or "jax"
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class Policy(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum", **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.relu(nn.Dense(64)(inputs["states"]))
x = nn.relu(nn.Dense(64)(x))
x = nn.Dense(self.num_actions)(x)
log_std = self.param("log_std", lambda _: jnp.zeros(self.num_actions))
# Pendulum-v1 action_space is -2 to 2
return 2 * nn.tanh(x), log_std, {}
class Value(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False, **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
DeterministicMixin.__init__(self, clip_actions)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.relu(nn.Dense(64)(inputs["states"]))
x = nn.relu(nn.Dense(64)(x))
x = nn.Dense(1)(x)
return x, {}
# load and wrap the gym environment.
# note: the environment version may change depending on the gym version
try:
env = gym.vector.make("Pendulum-v1", num_envs=4, asynchronous=False)
except gym.error.DeprecatedEnv as e:
env_id = [spec.id for spec in gym.envs.registry.all() if spec.id.startswith("Pendulum-v")][0]
print("Pendulum-v1 not found. Trying {}".format(env_id))
env = gym.vector.make(env_id, num_envs=4, asynchronous=False)
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=1024, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# PPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#models
models = {}
models["policy"] = Policy(env.observation_space, env.action_space, device, clip_actions=True)
models["value"] = Value(env.observation_space, env.action_space, device)
# instantiate models' state dict
for role, model in models.items():
model.init_state_dict(role)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#configuration-and-hyperparameters
cfg = PPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 1024 # memory_size
cfg["learning_epochs"] = 10
cfg["mini_batches"] = 32
cfg["discount_factor"] = 0.9
cfg["lambda"] = 0.95
cfg["learning_rate"] = 1e-3
cfg["learning_rate_scheduler"] = KLAdaptiveRL
cfg["learning_rate_scheduler_kwargs"] = {"kl_threshold": 0.008}
cfg["grad_norm_clip"] = 0.5
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = False
cfg["entropy_loss_scale"] = 0.0
cfg["value_loss_scale"] = 0.5
cfg["kl_threshold"] = 0
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 500
cfg["experiment"]["checkpoint_interval"] = 5000
cfg["experiment"]["directory"] = "runs/jax/Pendulum"
agent = PPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 100000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 4,771 | Python | 37.176 | 101 | 0.704255 |
Toni-SM/skrl/docs/source/examples/gym/jax_gym_pendulum_sac.py | import gym
import flax.linen as nn
import jax
import jax.numpy as jnp
# import the skrl components to build the RL system
from skrl import config
from skrl.agents.jax.sac import SAC, SAC_DEFAULT_CONFIG
from skrl.envs.wrappers.jax import wrap_env
from skrl.memories.jax import RandomMemory
from skrl.models.jax import DeterministicMixin, GaussianMixin, Model
from skrl.trainers.jax import SequentialTrainer
from skrl.utils import set_seed
config.jax.backend = "numpy" # or "jax"
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class Actor(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False,
clip_log_std=True, min_log_std=-5, max_log_std=2, reduction="sum", **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.relu(nn.Dense(400)(inputs["states"]))
x = nn.relu(nn.Dense(300)(x))
x = nn.Dense(self.num_actions)(x)
log_std = self.param("log_std", lambda _: jnp.zeros(self.num_actions))
# Pendulum-v1 action_space is -2 to 2
return 2 * nn.tanh(x), log_std, {}
class Critic(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False, **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
DeterministicMixin.__init__(self, clip_actions)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = jnp.concatenate([inputs["states"], inputs["taken_actions"]], axis=-1)
x = nn.relu(nn.Dense(400)(x))
x = nn.relu(nn.Dense(300)(x))
x = nn.Dense(1)(x)
return x, {}
# load and wrap the gym environment.
# note: the environment version may change depending on the gym version
try:
env = gym.make("Pendulum-v1")
except gym.error.DeprecatedEnv as e:
env_id = [spec.id for spec in gym.envs.registry.all() if spec.id.startswith("Pendulum-v")][0]
print("Pendulum-v1 not found. Trying {}".format(env_id))
env = gym.make(env_id)
env = wrap_env(env)
device = env.device
# instantiate a memory as experience replay
memory = RandomMemory(memory_size=20000, num_envs=env.num_envs, device=device, replacement=False)
# instantiate the agent's models (function approximators).
# SAC requires 5 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/sac.html#models
models = {}
models["policy"] = Actor(env.observation_space, env.action_space, device, clip_actions=True)
models["critic_1"] = Critic(env.observation_space, env.action_space, device)
models["critic_2"] = Critic(env.observation_space, env.action_space, device)
models["target_critic_1"] = Critic(env.observation_space, env.action_space, device)
models["target_critic_2"] = Critic(env.observation_space, env.action_space, device)
# instantiate models' state dict
for role, model in models.items():
model.init_state_dict(role)
# initialize models' parameters (weights and biases)
for model in models.values():
model.init_parameters(method_name="normal", stddev=0.1)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/sac.html#configuration-and-hyperparameters
cfg = SAC_DEFAULT_CONFIG.copy()
cfg["discount_factor"] = 0.98
cfg["batch_size"] = 100
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 1000
cfg["learn_entropy"] = True
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 75
cfg["experiment"]["checkpoint_interval"] = 750
cfg["experiment"]["directory"] = "runs/jax/Pendulum"
agent = SAC(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 15000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 4,431 | Python | 36.880342 | 101 | 0.701873 |
Toni-SM/skrl/docs/source/examples/gym/torch_gym_pendulumnovel_trpo_gru.py | import gym
import numpy as np
import torch
import torch.nn as nn
# import the skrl components to build the RL system
from skrl.agents.torch.trpo import TRPO_DEFAULT_CONFIG
from skrl.agents.torch.trpo import TRPO_RNN as TRPO
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class Policy(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum",
num_envs=1, num_layers=1, hidden_size=64, sequence_length=128):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
self.num_envs = num_envs
self.num_layers = num_layers
self.hidden_size = hidden_size # Hout
self.sequence_length = sequence_length
self.gru = nn.GRU(input_size=self.num_observations,
hidden_size=self.hidden_size,
num_layers=self.num_layers,
batch_first=True) # batch_first -> (batch, sequence, features)
self.net = nn.Sequential(nn.Linear(self.hidden_size, 64),
nn.ReLU(),
nn.Linear(64, self.num_actions))
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
def get_specification(self):
# batch size (N) is the number of envs
return {"rnn": {"sequence_length": self.sequence_length,
"sizes": [(self.num_layers, self.num_envs, self.hidden_size)]}} # hidden states (D ∗ num_layers, N, Hout)
def compute(self, inputs, role):
states = inputs["states"]
terminated = inputs.get("terminated", None)
hidden_states = inputs["rnn"][0]
# training
if self.training:
rnn_input = states.view(-1, self.sequence_length, states.shape[-1]) # (N, L, Hin): N=batch_size, L=sequence_length
hidden_states = hidden_states.view(self.num_layers, -1, self.sequence_length, hidden_states.shape[-1]) # (D * num_layers, N, L, Hout)
# get the hidden states corresponding to the initial sequence
hidden_states = hidden_states[:,:,0,:].contiguous() # (D * num_layers, N, Hout)
# reset the RNN state in the middle of a sequence
if terminated is not None and torch.any(terminated):
rnn_outputs = []
terminated = terminated.view(-1, self.sequence_length)
indexes = [0] + (terminated[:,:-1].any(dim=0).nonzero(as_tuple=True)[0] + 1).tolist() + [self.sequence_length]
for i in range(len(indexes) - 1):
i0, i1 = indexes[i], indexes[i + 1]
rnn_output, hidden_states = self.gru(rnn_input[:,i0:i1,:], hidden_states)
hidden_states[:, (terminated[:,i1-1]), :] = 0
rnn_outputs.append(rnn_output)
rnn_output = torch.cat(rnn_outputs, dim=1)
# no need to reset the RNN state in the sequence
else:
rnn_output, hidden_states = self.gru(rnn_input, hidden_states)
# rollout
else:
rnn_input = states.view(-1, 1, states.shape[-1]) # (N, L, Hin): N=num_envs, L=1
rnn_output, hidden_states = self.gru(rnn_input, hidden_states)
# flatten the RNN output
rnn_output = torch.flatten(rnn_output, start_dim=0, end_dim=1) # (N, L, D ∗ Hout) -> (N * L, D ∗ Hout)
# Pendulum-v1 action_space is -2 to 2
return 2 * torch.tanh(self.net(rnn_output)), self.log_std_parameter, {"rnn": [hidden_states]}
class Value(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
num_envs=1, num_layers=1, hidden_size=64, sequence_length=128):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.num_envs = num_envs
self.num_layers = num_layers
self.hidden_size = hidden_size # Hout
self.sequence_length = sequence_length
self.gru = nn.GRU(input_size=self.num_observations,
hidden_size=self.hidden_size,
num_layers=self.num_layers,
batch_first=True) # batch_first -> (batch, sequence, features)
self.net = nn.Sequential(nn.Linear(self.hidden_size, 64),
nn.ReLU(),
nn.Linear(64, 1))
def get_specification(self):
# batch size (N) is the number of envs
return {"rnn": {"sequence_length": self.sequence_length,
"sizes": [(self.num_layers, self.num_envs, self.hidden_size)]}} # hidden states (D ∗ num_layers, N, Hout)
def compute(self, inputs, role):
states = inputs["states"]
terminated = inputs.get("terminated", None)
hidden_states = inputs["rnn"][0]
# training
if self.training:
rnn_input = states.view(-1, self.sequence_length, states.shape[-1]) # (N, L, Hin): N=batch_size, L=sequence_length
hidden_states = hidden_states.view(self.num_layers, -1, self.sequence_length, hidden_states.shape[-1]) # (D * num_layers, N, L, Hout)
# get the hidden states corresponding to the initial sequence
hidden_states = hidden_states[:,:,0,:].contiguous() # (D * num_layers, N, Hout)
# reset the RNN state in the middle of a sequence
if terminated is not None and torch.any(terminated):
rnn_outputs = []
terminated = terminated.view(-1, self.sequence_length)
indexes = [0] + (terminated[:,:-1].any(dim=0).nonzero(as_tuple=True)[0] + 1).tolist() + [self.sequence_length]
for i in range(len(indexes) - 1):
i0, i1 = indexes[i], indexes[i + 1]
rnn_output, hidden_states = self.gru(rnn_input[:,i0:i1,:], hidden_states)
hidden_states[:, (terminated[:,i1-1]), :] = 0
rnn_outputs.append(rnn_output)
rnn_output = torch.cat(rnn_outputs, dim=1)
# no need to reset the RNN state in the sequence
else:
rnn_output, hidden_states = self.gru(rnn_input, hidden_states)
# rollout
else:
rnn_input = states.view(-1, 1, states.shape[-1]) # (N, L, Hin): N=num_envs, L=1
rnn_output, hidden_states = self.gru(rnn_input, hidden_states)
# flatten the RNN output
rnn_output = torch.flatten(rnn_output, start_dim=0, end_dim=1) # (N, L, D ∗ Hout) -> (N * L, D ∗ Hout)
return self.net(rnn_output), {"rnn": [hidden_states]}
# environment observation wrapper used to mask velocity. Adapted from rl_zoo3 (rl_zoo3/wrappers.py)
class NoVelocityWrapper(gym.ObservationWrapper):
def observation(self, observation):
# observation: x, y, angular velocity
return observation * np.array([1, 1, 0])
gym.envs.registration.register(id="PendulumNoVel-v1", entry_point=lambda: NoVelocityWrapper(gym.make("Pendulum-v1")))
# load and wrap the gym environment
env = gym.vector.make("PendulumNoVel-v1", num_envs=4, asynchronous=False)
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=1024, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# TRPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/trpo.html#models
models = {}
models["policy"] = Policy(env.observation_space, env.action_space, device, clip_actions=True, num_envs=env.num_envs)
models["value"] = Value(env.observation_space, env.action_space, device, num_envs=env.num_envs)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/trpo.html#configuration-and-hyperparameters
cfg = TRPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 1024 # memory_size
cfg["learning_epochs"] = 10
cfg["mini_batches"] = 32
cfg["discount_factor"] = 0.9
cfg["lambda"] = 0.95
cfg["learning_rate"] = 1e-3
cfg["grad_norm_clip"] = 0.5
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 500
cfg["experiment"]["checkpoint_interval"] = 5000
cfg["experiment"]["directory"] = "runs/torch/PendulumNoVel"
agent = TRPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 100000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 9,716 | Python | 44.406542 | 146 | 0.620729 |
Toni-SM/skrl/docs/source/examples/gym/torch_gym_pendulumnovel_td3_rnn.py | import gym
import numpy as np
import torch
import torch.nn as nn
import torch.nn.functional as F
# import the skrl components to build the RL system
from skrl.agents.torch.td3 import TD3_DEFAULT_CONFIG
from skrl.agents.torch.td3 import TD3_RNN as TD3
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, Model
from skrl.resources.noises.torch import GaussianNoise
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (deterministic models) using mixin
class Actor(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
num_envs=1, num_layers=1, hidden_size=400, sequence_length=20):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.num_envs = num_envs
self.num_layers = num_layers
self.hidden_size = hidden_size # Hout
self.sequence_length = sequence_length
self.rnn = nn.RNN(input_size=self.num_observations,
hidden_size=self.hidden_size,
num_layers=self.num_layers,
batch_first=True) # batch_first -> (batch, sequence, features)
self.linear_layer_1 = nn.Linear(self.hidden_size, 400)
self.linear_layer_2 = nn.Linear(400, 300)
self.action_layer = nn.Linear(300, self.num_actions)
def get_specification(self):
# batch size (N) is the number of envs
return {"rnn": {"sequence_length": self.sequence_length,
"sizes": [(self.num_layers, self.num_envs, self.hidden_size)]}} # hidden states (D ∗ num_layers, N, Hout)
def compute(self, inputs, role):
states = inputs["states"]
terminated = inputs.get("terminated", None)
hidden_states = inputs["rnn"][0]
# training
if self.training:
rnn_input = states.view(-1, self.sequence_length, states.shape[-1]) # (N, L, Hin): N=batch_size, L=sequence_length
hidden_states = hidden_states.view(self.num_layers, -1, self.sequence_length, hidden_states.shape[-1]) # (D * num_layers, N, L, Hout)
# get the hidden states corresponding to the initial sequence
sequence_index = 1 if role == "target_policy" else 0 # target networks act on the next state of the environment
hidden_states = hidden_states[:,:,sequence_index,:].contiguous() # (D * num_layers, N, Hout)
# reset the RNN state in the middle of a sequence
if terminated is not None and torch.any(terminated):
rnn_outputs = []
terminated = terminated.view(-1, self.sequence_length)
indexes = [0] + (terminated[:,:-1].any(dim=0).nonzero(as_tuple=True)[0] + 1).tolist() + [self.sequence_length]
for i in range(len(indexes) - 1):
i0, i1 = indexes[i], indexes[i + 1]
rnn_output, hidden_states = self.rnn(rnn_input[:,i0:i1,:], hidden_states)
hidden_states[:, (terminated[:,i1-1]), :] = 0
rnn_outputs.append(rnn_output)
rnn_output = torch.cat(rnn_outputs, dim=1)
# no need to reset the RNN state in the sequence
else:
rnn_output, hidden_states = self.rnn(rnn_input, hidden_states)
# rollout
else:
rnn_input = states.view(-1, 1, states.shape[-1]) # (N, L, Hin): N=num_envs, L=1
rnn_output, hidden_states = self.rnn(rnn_input, hidden_states)
# flatten the RNN output
rnn_output = torch.flatten(rnn_output, start_dim=0, end_dim=1) # (N, L, D ∗ Hout) -> (N * L, D ∗ Hout)
x = F.relu(self.linear_layer_1(rnn_output))
x = F.relu(self.linear_layer_2(x))
# Pendulum-v1 action_space is -2 to 2
return 2 * torch.tanh(self.action_layer(x)), {"rnn": [hidden_states]}
class Critic(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
num_envs=1, num_layers=1, hidden_size=400, sequence_length=20):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.num_envs = num_envs
self.num_layers = num_layers
self.hidden_size = hidden_size # Hout
self.sequence_length = sequence_length
self.rnn = nn.RNN(input_size=self.num_observations,
hidden_size=self.hidden_size,
num_layers=self.num_layers,
batch_first=True) # batch_first -> (batch, sequence, features)
self.linear_layer_1 = nn.Linear(self.hidden_size + self.num_actions, 400)
self.linear_layer_2 = nn.Linear(400, 300)
self.linear_layer_3 = nn.Linear(300, 1)
def get_specification(self):
# batch size (N) is the number of envs
return {"rnn": {"sequence_length": self.sequence_length,
"sizes": [(self.num_layers, self.num_envs, self.hidden_size)]}} # hidden states (D ∗ num_layers, N, Hout)
def compute(self, inputs, role):
states = inputs["states"]
terminated = inputs.get("terminated", None)
hidden_states = inputs["rnn"][0]
# critic is only used during training
rnn_input = states.view(-1, self.sequence_length, states.shape[-1]) # (N, L, Hin): N=batch_size, L=sequence_length
hidden_states = hidden_states.view(self.num_layers, -1, self.sequence_length, hidden_states.shape[-1]) # (D * num_layers, N, L, Hout)
# get the hidden states corresponding to the initial sequence
sequence_index = 1 if role in ["target_critic_1", "target_critic_2"] else 0 # target networks act on the next state of the environment
hidden_states = hidden_states[:,:,sequence_index,:].contiguous() # (D * num_layers, N, Hout)
# reset the RNN state in the middle of a sequence
if terminated is not None and torch.any(terminated):
rnn_outputs = []
terminated = terminated.view(-1, self.sequence_length)
indexes = [0] + (terminated[:,:-1].any(dim=0).nonzero(as_tuple=True)[0] + 1).tolist() + [self.sequence_length]
for i in range(len(indexes) - 1):
i0, i1 = indexes[i], indexes[i + 1]
rnn_output, hidden_states = self.rnn(rnn_input[:,i0:i1,:], hidden_states)
hidden_states[:, (terminated[:,i1-1]), :] = 0
rnn_outputs.append(rnn_output)
rnn_output = torch.cat(rnn_outputs, dim=1)
# no need to reset the RNN state in the sequence
else:
rnn_output, hidden_states = self.rnn(rnn_input, hidden_states)
# flatten the RNN output
rnn_output = torch.flatten(rnn_output, start_dim=0, end_dim=1) # (N, L, D ∗ Hout) -> (N * L, D ∗ Hout)
x = F.relu(self.linear_layer_1(torch.cat([rnn_output, inputs["taken_actions"]], dim=1)))
x = F.relu(self.linear_layer_2(x))
return self.linear_layer_3(x), {"rnn": [hidden_states]}
# environment observation wrapper used to mask velocity. Adapted from rl_zoo3 (rl_zoo3/wrappers.py)
class NoVelocityWrapper(gym.ObservationWrapper):
def observation(self, observation):
# observation: x, y, angular velocity
return observation * np.array([1, 1, 0])
gym.envs.registration.register(id="PendulumNoVel-v1", entry_point=lambda: NoVelocityWrapper(gym.make("Pendulum-v1")))
# load and wrap the gym environment
env = gym.make("PendulumNoVel-v1")
env = wrap_env(env)
device = env.device
# instantiate a memory as experience replay
memory = RandomMemory(memory_size=20000, num_envs=env.num_envs, device=device, replacement=False)
# instantiate the agent's models (function approximators).
# TD3 requires 6 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/td3.html#models
models = {}
models["policy"] = Actor(env.observation_space, env.action_space, device, num_envs=env.num_envs)
models["target_policy"] = Actor(env.observation_space, env.action_space, device, num_envs=env.num_envs)
models["critic_1"] = Critic(env.observation_space, env.action_space, device, num_envs=env.num_envs)
models["critic_2"] = Critic(env.observation_space, env.action_space, device, num_envs=env.num_envs)
models["target_critic_1"] = Critic(env.observation_space, env.action_space, device, num_envs=env.num_envs)
models["target_critic_2"] = Critic(env.observation_space, env.action_space, device, num_envs=env.num_envs)
# initialize models' parameters (weights and biases)
for model in models.values():
model.init_parameters(method_name="normal_", mean=0.0, std=0.1)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/td3.html#configuration-and-hyperparameters
cfg = TD3_DEFAULT_CONFIG.copy()
cfg["exploration"]["noise"] = GaussianNoise(0, 0.1, device=device)
cfg["smooth_regularization_noise"] = GaussianNoise(0, 0.2, device=device)
cfg["smooth_regularization_clip"] = 0.5
cfg["discount_factor"] = 0.98
cfg["batch_size"] = 100
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 1000
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 75
cfg["experiment"]["checkpoint_interval"] = 750
cfg["experiment"]["directory"] = "runs/torch/PendulumNoVel"
agent = TD3(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 15000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 10,087 | Python | 44.854545 | 146 | 0.641122 |
Toni-SM/skrl/docs/source/examples/gym/torch_gym_pendulum_trpo.py | import gym
import torch
import torch.nn as nn
# import the skrl components to build the RL system
from skrl.agents.torch.trpo import TRPO, TRPO_DEFAULT_CONFIG
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class Policy(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum"):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
self.net = nn.Sequential(nn.Linear(self.num_observations, 64),
nn.ReLU(),
nn.Linear(64, 64),
nn.ReLU(),
nn.Linear(64, self.num_actions))
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
def compute(self, inputs, role):
# Pendulum-v1 action_space is -2 to 2
return 2 * torch.tanh(self.net(inputs["states"])), self.log_std_parameter, {}
class Value(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations, 64),
nn.ReLU(),
nn.Linear(64, 64),
nn.ReLU(),
nn.Linear(64, 1))
def compute(self, inputs, role):
return self.net(inputs["states"]), {}
# load and wrap the gym environment.
# note: the environment version may change depending on the gym version
try:
env = gym.vector.make("Pendulum-v1", num_envs=4, asynchronous=False)
except gym.error.DeprecatedEnv as e:
env_id = [spec.id for spec in gym.envs.registry.all() if spec.id.startswith("Pendulum-v")][0]
print("Pendulum-v1 not found. Trying {}".format(env_id))
env = gym.vector.make(env_id, num_envs=4, asynchronous=False)
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=1024, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# TRPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/trpo.html#models
models = {}
models["policy"] = Policy(env.observation_space, env.action_space, device, clip_actions=True)
models["value"] = Value(env.observation_space, env.action_space, device)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/trpo.html#configuration-and-hyperparameters
cfg = TRPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 1024 # memory_size
cfg["learning_epochs"] = 10
cfg["mini_batches"] = 32
cfg["discount_factor"] = 0.99
cfg["lambda"] = 0.95
cfg["learning_rate"] = 1e-3
cfg["grad_norm_clip"] = 0.5
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 500
cfg["experiment"]["checkpoint_interval"] = 5000
cfg["experiment"]["directory"] = "runs/torch/Pendulum"
agent = TRPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 100000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=[agent])
# start training
trainer.train()
| 4,425 | Python | 38.873874 | 101 | 0.672316 |
Toni-SM/skrl/docs/source/examples/bidexhands/torch_bidexhands_shadow_hand_over_mappo.py | import isaacgym
import torch
import torch.nn as nn
# import the skrl components to build the RL system
from skrl.envs.loaders.torch import load_bidexhands_env
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
from skrl.multi_agents.torch.mappo import MAPPO, MAPPO_DEFAULT_CONFIG
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.resources.schedulers.torch import KLAdaptiveRL
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class Policy(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum"):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
self.net = nn.Sequential(nn.Linear(self.num_observations, 512),
nn.ELU(),
nn.Linear(512, 256),
nn.ELU(),
nn.Linear(256, 128),
nn.ELU(),
nn.Linear(128, self.num_actions))
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
def compute(self, inputs, role):
return self.net(inputs["states"]), self.log_std_parameter, {}
class Value(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations, 512),
nn.ELU(),
nn.Linear(512, 256),
nn.ELU(),
nn.Linear(256, 128),
nn.ELU(),
nn.Linear(128, 1))
def compute(self, inputs, role):
return self.net(inputs["states"]), {}
# load and wrap the environment
env = load_bidexhands_env(task_name="ShadowHandOver")
env = wrap_env(env, wrapper="bidexhands")
device = env.device
# instantiate memories as rollout buffer (any memory can be used for this)
memories = {}
for agent_name in env.possible_agents:
memories[agent_name] = RandomMemory(memory_size=24, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# MAPPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/multi_agents/mappo.html#models
models = {}
for agent_name in env.possible_agents:
models[agent_name] = {}
models[agent_name]["policy"] = Policy(env.observation_space(agent_name), env.action_space(agent_name), device)
models[agent_name]["value"] = Value(env.shared_observation_space(agent_name), env.action_space(agent_name), device)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/multi_agents/mappo.html#configuration-and-hyperparameters
cfg = MAPPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 24 # memory_size
cfg["learning_epochs"] = 5
cfg["mini_batches"] = 6 # 24 * 4096 / 16384
cfg["discount_factor"] = 0.99
cfg["lambda"] = 0.95
cfg["learning_rate"] = 3e-4
cfg["learning_rate_scheduler"] = KLAdaptiveRL
cfg["learning_rate_scheduler_kwargs"] = {"kl_threshold": 0.008}
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 0
cfg["grad_norm_clip"] = 1.0
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = True
cfg["entropy_loss_scale"] = 0.001
cfg["value_loss_scale"] = 1.0
cfg["kl_threshold"] = 0
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": next(iter(env.observation_spaces.values())), "device": device}
cfg["shared_state_preprocessor"] = RunningStandardScaler
cfg["shared_state_preprocessor_kwargs"] = {
"size": next(iter(env.shared_observation_spaces.values())), "device": device
}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 180
cfg["experiment"]["checkpoint_interval"] = 1800
cfg["experiment"]["directory"] = "runs/torch/ShadowHandOver"
agent = MAPPO(possible_agents=env.possible_agents,
models=models,
memories=memories,
cfg=cfg,
observation_spaces=env.observation_spaces,
action_spaces=env.action_spaces,
device=device,
shared_observation_spaces=env.shared_observation_spaces)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 36000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
| 5,266 | Python | 39.515384 | 119 | 0.661983 |
Toni-SM/skrl/docs/source/examples/bidexhands/jax_bidexhands_shadow_hand_over_mappo.py | import isaacgym
import flax.linen as nn
import jax
import jax.numpy as jnp
# import the skrl components to build the RL system
from skrl import config
from skrl.envs.loaders.jax import load_bidexhands_env
from skrl.envs.wrappers.jax import wrap_env
from skrl.memories.jax import RandomMemory
from skrl.models.jax import DeterministicMixin, GaussianMixin, Model
from skrl.multi_agents.jax.mappo import MAPPO, MAPPO_DEFAULT_CONFIG
from skrl.resources.preprocessors.jax import RunningStandardScaler
from skrl.resources.schedulers.jax import KLAdaptiveRL
from skrl.trainers.jax import SequentialTrainer
from skrl.utils import set_seed
config.jax.backend = "jax" # or "numpy"
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class Policy(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum", **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.elu(nn.Dense(512)(inputs["states"]))
x = nn.elu(nn.Dense(256)(x))
x = nn.elu(nn.Dense(128)(x))
x = nn.Dense(self.num_actions)(x)
log_std = self.param("log_std", lambda _: jnp.zeros(self.num_actions))
return x, log_std, {}
class Value(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False, **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
DeterministicMixin.__init__(self, clip_actions)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.elu(nn.Dense(512)(inputs["states"]))
x = nn.elu(nn.Dense(256)(x))
x = nn.elu(nn.Dense(128)(x))
x = nn.Dense(1)(x)
return x, {}
# load and wrap the environment
env = load_bidexhands_env(task_name="ShadowHandOver")
env = wrap_env(env, wrapper="bidexhands")
device = env.device
# instantiate memories as rollout buffer (any memory can be used for this)
memories = {}
for agent_name in env.possible_agents:
memories[agent_name] = RandomMemory(memory_size=24, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# IPPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/multi_agents/ippo.html#models
models = {}
for agent_name in env.possible_agents:
models[agent_name] = {}
models[agent_name]["policy"] = Policy(env.observation_space(agent_name), env.action_space(agent_name), device)
models[agent_name]["value"] = Value(env.shared_observation_space(agent_name), env.action_space(agent_name), device)
# instantiate models' state dict
for agent_name in env.possible_agents:
for role, model in models[agent_name].items():
model.init_state_dict(role)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/multi_agents/ippo.html#configuration-and-hyperparameters
cfg = MAPPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 24 # memory_size
cfg["learning_epochs"] = 5
cfg["mini_batches"] = 6 # 24 * 4096 / 16384
cfg["discount_factor"] = 0.99
cfg["lambda"] = 0.95
cfg["learning_rate"] = 3e-4
cfg["learning_rate_scheduler"] = KLAdaptiveRL
cfg["learning_rate_scheduler_kwargs"] = {"kl_threshold": 0.008}
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 0
cfg["grad_norm_clip"] = 1.0
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = True
cfg["entropy_loss_scale"] = 0.001
cfg["value_loss_scale"] = 1.0
cfg["kl_threshold"] = 0
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": next(iter(env.observation_spaces.values())), "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 180
cfg["experiment"]["checkpoint_interval"] = 1800
cfg["experiment"]["directory"] = "runs/jax/ShadowHandOver"
agent = MAPPO(possible_agents=env.possible_agents,
models=models,
memories=memories,
cfg=cfg,
observation_spaces=env.observation_spaces,
action_spaces=env.action_spaces,
device=device,
shared_observation_spaces=env.shared_observation_spaces)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 36000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
| 5,036 | Python | 38.046511 | 119 | 0.701747 |
Toni-SM/skrl/docs/source/examples/bidexhands/torch_bidexhands_shadow_hand_over_ippo.py | import isaacgym
import torch
import torch.nn as nn
# import the skrl components to build the RL system
from skrl.envs.loaders.torch import load_bidexhands_env
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
from skrl.multi_agents.torch.ippo import IPPO, IPPO_DEFAULT_CONFIG
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.resources.schedulers.torch import KLAdaptiveRL
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class Policy(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum"):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
self.net = nn.Sequential(nn.Linear(self.num_observations, 512),
nn.ELU(),
nn.Linear(512, 256),
nn.ELU(),
nn.Linear(256, 128),
nn.ELU(),
nn.Linear(128, self.num_actions))
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
def compute(self, inputs, role):
return self.net(inputs["states"]), self.log_std_parameter, {}
class Value(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations, 512),
nn.ELU(),
nn.Linear(512, 256),
nn.ELU(),
nn.Linear(256, 128),
nn.ELU(),
nn.Linear(128, 1))
def compute(self, inputs, role):
return self.net(inputs["states"]), {}
# load and wrap the environment
env = load_bidexhands_env(task_name="ShadowHandOver")
env = wrap_env(env, wrapper="bidexhands")
device = env.device
# instantiate memories as rollout buffer (any memory can be used for this)
memories = {}
for agent_name in env.possible_agents:
memories[agent_name] = RandomMemory(memory_size=24, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# IPPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/multi_agents/ippo.html#models
models = {}
for agent_name in env.possible_agents:
models[agent_name] = {}
models[agent_name]["policy"] = Policy(env.observation_space(agent_name), env.action_space(agent_name), device)
models[agent_name]["value"] = Value(env.observation_space(agent_name), env.action_space(agent_name), device)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/multi_agents/ippo.html#configuration-and-hyperparameters
cfg = IPPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 24 # memory_size
cfg["learning_epochs"] = 5
cfg["mini_batches"] = 6 # 24 * 4096 / 16384
cfg["discount_factor"] = 0.99
cfg["lambda"] = 0.95
cfg["learning_rate"] = 3e-4
cfg["learning_rate_scheduler"] = KLAdaptiveRL
cfg["learning_rate_scheduler_kwargs"] = {"kl_threshold": 0.008}
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 0
cfg["grad_norm_clip"] = 1.0
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = True
cfg["entropy_loss_scale"] = 0.001
cfg["value_loss_scale"] = 1.0
cfg["kl_threshold"] = 0
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": next(iter(env.observation_spaces.values())), "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 180
cfg["experiment"]["checkpoint_interval"] = 1800
cfg["experiment"]["directory"] = "runs/torch/ShadowHandOver"
agent = IPPO(possible_agents=env.possible_agents,
models=models,
memories=memories,
cfg=cfg,
observation_spaces=env.observation_spaces,
action_spaces=env.action_spaces,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 36000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
| 4,990 | Python | 38.928 | 114 | 0.658918 |
Toni-SM/skrl/docs/source/examples/bidexhands/jax_bidexhands_shadow_hand_over_ippo.py | import isaacgym
import flax.linen as nn
import jax
import jax.numpy as jnp
# import the skrl components to build the RL system
from skrl import config
from skrl.envs.loaders.jax import load_bidexhands_env
from skrl.envs.wrappers.jax import wrap_env
from skrl.memories.jax import RandomMemory
from skrl.models.jax import DeterministicMixin, GaussianMixin, Model
from skrl.multi_agents.jax.ippo import IPPO, IPPO_DEFAULT_CONFIG
from skrl.resources.preprocessors.jax import RunningStandardScaler
from skrl.resources.schedulers.jax import KLAdaptiveRL
from skrl.trainers.jax import SequentialTrainer
from skrl.utils import set_seed
config.jax.backend = "jax" # or "numpy"
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class Policy(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum", **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.elu(nn.Dense(512)(inputs["states"]))
x = nn.elu(nn.Dense(256)(x))
x = nn.elu(nn.Dense(128)(x))
x = nn.Dense(self.num_actions)(x)
log_std = self.param("log_std", lambda _: jnp.zeros(self.num_actions))
return x, log_std, {}
class Value(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False, **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
DeterministicMixin.__init__(self, clip_actions)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.elu(nn.Dense(512)(inputs["states"]))
x = nn.elu(nn.Dense(256)(x))
x = nn.elu(nn.Dense(128)(x))
x = nn.Dense(1)(x)
return x, {}
# load and wrap the environment
env = load_bidexhands_env(task_name="ShadowHandOver")
env = wrap_env(env, wrapper="bidexhands")
device = env.device
# instantiate memories as rollout buffer (any memory can be used for this)
memories = {}
for agent_name in env.possible_agents:
memories[agent_name] = RandomMemory(memory_size=24, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# IPPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/multi_agents/ippo.html#models
models = {}
for agent_name in env.possible_agents:
models[agent_name] = {}
models[agent_name]["policy"] = Policy(env.observation_space(agent_name), env.action_space(agent_name), device)
models[agent_name]["value"] = Value(env.observation_space(agent_name), env.action_space(agent_name), device)
# instantiate models' state dict
for agent_name in env.possible_agents:
for role, model in models[agent_name].items():
model.init_state_dict(role)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/multi_agents/ippo.html#configuration-and-hyperparameters
cfg = IPPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 24 # memory_size
cfg["learning_epochs"] = 5
cfg["mini_batches"] = 6 # 24 * 4096 / 16384
cfg["discount_factor"] = 0.99
cfg["lambda"] = 0.95
cfg["learning_rate"] = 3e-4
cfg["learning_rate_scheduler"] = KLAdaptiveRL
cfg["learning_rate_scheduler_kwargs"] = {"kl_threshold": 0.008}
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 0
cfg["grad_norm_clip"] = 1.0
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = True
cfg["entropy_loss_scale"] = 0.001
cfg["value_loss_scale"] = 1.0
cfg["kl_threshold"] = 0
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": next(iter(env.observation_spaces.values())), "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 180
cfg["experiment"]["checkpoint_interval"] = 1800
cfg["experiment"]["directory"] = "runs/jax/ShadowHandOver"
agent = IPPO(possible_agents=env.possible_agents,
models=models,
memories=memories,
cfg=cfg,
observation_spaces=env.observation_spaces,
action_spaces=env.action_spaces,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 36000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
| 4,948 | Python | 37.364341 | 114 | 0.702102 |
Toni-SM/skrl/docs/source/examples/isaacgym/torch_ingenuity_ppo.py | import isaacgym
import isaacgymenvs
import torch
import torch.nn as nn
# import the skrl components to build the RL system
from skrl.agents.torch.ppo import PPO, PPO_DEFAULT_CONFIG
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.resources.schedulers.torch import KLAdaptiveRL
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
seed = set_seed() # e.g. `set_seed(42)` for fixed seed
# define shared model (stochastic and deterministic models) using mixins
class Shared(GaussianMixin, DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum"):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations, 256),
nn.ELU(),
nn.Linear(256, 256),
nn.ELU(),
nn.Linear(256, 128),
nn.ELU())
self.mean_layer = nn.Linear(128, self.num_actions)
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
self.value_layer = nn.Linear(128, 1)
def act(self, inputs, role):
if role == "policy":
return GaussianMixin.act(self, inputs, role)
elif role == "value":
return DeterministicMixin.act(self, inputs, role)
def compute(self, inputs, role):
if role == "policy":
return self.mean_layer(self.net(inputs["states"])), self.log_std_parameter, {}
elif role == "value":
return self.value_layer(self.net(inputs["states"])), {}
# load and wrap the Isaac Gym environment using the easy-to-use API from NVIDIA
env = isaacgymenvs.make(seed=seed,
task="Ingenuity",
num_envs=4096,
sim_device="cuda:0",
rl_device="cuda:0",
graphics_device_id=0,
headless=True)
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=16, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# PPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#models
models = {}
models["policy"] = Shared(env.observation_space, env.action_space, device)
models["value"] = models["policy"] # same instance: shared model
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#configuration-and-hyperparameters
cfg = PPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 16 # memory_size
cfg["learning_epochs"] = 8
cfg["mini_batches"] = 4 # 16 * 4096 / 16384
cfg["discount_factor"] = 0.99
cfg["lambda"] = 0.95
cfg["learning_rate"] = 1e-3
cfg["learning_rate_scheduler"] = KLAdaptiveRL
cfg["learning_rate_scheduler_kwargs"] = {"kl_threshold": 0.016}
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 0
cfg["grad_norm_clip"] = 1.0
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = True
cfg["entropy_loss_scale"] = 0.0
cfg["value_loss_scale"] = 1.0
cfg["kl_threshold"] = 0
cfg["rewards_shaper"] = lambda rewards, timestep, timesteps: rewards * 0.01
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 40
cfg["experiment"]["checkpoint_interval"] = 400
cfg["experiment"]["directory"] = "runs/torch/Ingenuity"
agent = PPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 8000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
# # ---------------------------------------------------------
# # comment the code above: `trainer.train()`, and...
# # uncomment the following lines to evaluate a trained agent
# # ---------------------------------------------------------
# from skrl.utils.huggingface import download_model_from_huggingface
# # download the trained agent's checkpoint from Hugging Face Hub and load it
# path = download_model_from_huggingface("skrl/IsaacGymEnvs-Ingenuity-PPO", filename="agent.pt")
# agent.load(path)
# # start evaluation
# trainer.eval()
| 5,281 | Python | 37.275362 | 101 | 0.65196 |
Toni-SM/skrl/docs/source/examples/isaacgym/torch_factory_task_nut_bolt_pick_ppo.py | import isaacgym
import torch
import torch.nn as nn
# import the skrl components to build the RL system
from skrl.agents.torch.ppo import PPO, PPO_DEFAULT_CONFIG
from skrl.envs.loaders.torch import load_isaacgym_env_preview4
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.resources.schedulers.torch import KLAdaptiveRL
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define shared model (stochastic and deterministic models) using mixins
class Shared(GaussianMixin, DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum"):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations, 256),
nn.ELU(),
nn.Linear(256, 128),
nn.ELU(),
nn.Linear(128, 64),
nn.ELU())
self.mean_layer = nn.Linear(64, self.num_actions)
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
self.value_layer = nn.Linear(64, 1)
def act(self, inputs, role):
if role == "policy":
return GaussianMixin.act(self, inputs, role)
elif role == "value":
return DeterministicMixin.act(self, inputs, role)
def compute(self, inputs, role):
if role == "policy":
return self.mean_layer(self.net(inputs["states"])), self.log_std_parameter, {}
elif role == "value":
return self.value_layer(self.net(inputs["states"])), {}
# load and wrap the Isaac Gym environment
env = load_isaacgym_env_preview4(task_name="FactoryTaskNutBoltPick")
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=120, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# PPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#models
models = {}
models["policy"] = Shared(env.observation_space, env.action_space, device)
models["value"] = models["policy"] # same instance: shared model
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#configuration-and-hyperparameters
cfg = PPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 120 # memory_size
cfg["learning_epochs"] = 8
cfg["mini_batches"] = 30 # 120 * 128 / 512
cfg["discount_factor"] = 0.99
cfg["lambda"] = 0.95
cfg["learning_rate"] = 1e-4
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 0
cfg["grad_norm_clip"] = 0
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = True
cfg["entropy_loss_scale"] = 0.0
cfg["value_loss_scale"] = 1.0
cfg["kl_threshold"] = 0.016
cfg["rewards_shaper"] = None
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 614
cfg["experiment"]["checkpoint_interval"] = 6144
cfg["experiment"]["directory"] = "runs/torch/FactoryTaskNutBoltPick"
agent = PPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 122880, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
# # ---------------------------------------------------------
# # comment the code above: `trainer.train()`, and...
# # uncomment the following lines to evaluate a trained agent
# # ---------------------------------------------------------
# from skrl.utils.huggingface import download_model_from_huggingface
# # download the trained agent's checkpoint from Hugging Face Hub and load it
# path = download_model_from_huggingface("skrl/IsaacGymEnvs-FactoryTaskNutBoltPick-PPO", filename="agent.pt")
# agent.load(path)
# # start evaluation
# trainer.eval()
| 4,931 | Python | 36.938461 | 109 | 0.670452 |
Toni-SM/skrl/docs/source/examples/isaacgym/trpo_cartpole.py | import isaacgym
import torch
import torch.nn as nn
# Import the skrl components to build the RL system
from skrl.models.torch import Model, GaussianMixin, DeterministicMixin
from skrl.memories.torch import RandomMemory
from skrl.agents.torch.trpo import TRPO, TRPO_DEFAULT_CONFIG
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.trainers.torch import SequentialTrainer
from skrl.envs.torch import wrap_env
from skrl.envs.torch import load_isaacgym_env_preview4
from skrl.utils import set_seed
# set the seed for reproducibility
set_seed(42)
# Define the models (stochastic and deterministic models) for the agent using mixins.
# - Policy: takes as input the environment's observation/state and returns an action
# - Value: takes the state as input and provides a value to guide the policy
class Policy(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std)
self.net = nn.Sequential(nn.Linear(self.num_observations, 32),
nn.ELU(),
nn.Linear(32, 32),
nn.ELU(),
nn.Linear(32, self.num_actions))
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
def compute(self, inputs, role):
return self.net(inputs["states"]), self.log_std_parameter, {}
class Value(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations, 32),
nn.ELU(),
nn.Linear(32, 32),
nn.ELU(),
nn.Linear(32, 1))
def compute(self, inputs, role):
return self.net(inputs["states"]), {}
# Load and wrap the Isaac Gym environment
env = load_isaacgym_env_preview4(task_name="Cartpole") # preview 3 and 4 use the same loader
env = wrap_env(env)
device = env.device
# Instantiate a RandomMemory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=16, num_envs=env.num_envs, device=device)
# Instantiate the agent's models (function approximators).
# TRPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/modules/skrl.agents.trpo.html#spaces-and-models
models_trpo = {}
models_trpo["policy"] = Policy(env.observation_space, env.action_space, device)
models_trpo["value"] = Value(env.observation_space, env.action_space, device)
# Configure and instantiate the agent.
# Only modify some of the default configuration, visit its documentation to see all the options
# https://skrl.readthedocs.io/en/latest/modules/skrl.agents.trpo.html#configuration-and-hyperparameters
cfg_trpo = TRPO_DEFAULT_CONFIG.copy()
cfg_trpo["rollouts"] = 16 # memory_size
cfg_trpo["learning_epochs"] = 8
cfg_trpo["mini_batches"] = 1
cfg_trpo["discount_factor"] = 0.99
cfg_trpo["lambda"] = 0.95
cfg_trpo["learning_rate"] = 3e-4
cfg_trpo["grad_norm_clip"] = 1.0
cfg_trpo["value_loss_scale"] = 2.0
cfg_trpo["state_preprocessor"] = RunningStandardScaler
cfg_trpo["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg_trpo["value_preprocessor"] = RunningStandardScaler
cfg_trpo["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints each 16 and 80 timesteps respectively
cfg_trpo["experiment"]["write_interval"] = 16
cfg_trpo["experiment"]["checkpoint_interval"] = 80
agent = TRPO(models=models_trpo,
memory=memory,
cfg=cfg_trpo,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# Configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 1600, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
| 4,367 | Python | 39.444444 | 103 | 0.683765 |
Toni-SM/skrl/docs/source/examples/isaacgym/torch_ant_ddpg_td3_sac_parallel_unshared_memory.py | import isaacgym
import torch
import torch.nn as nn
# import the skrl components to build the RL system
from skrl.agents.torch.ddpg import DDPG, DDPG_DEFAULT_CONFIG
from skrl.agents.torch.sac import SAC, SAC_DEFAULT_CONFIG
from skrl.agents.torch.td3 import TD3, TD3_DEFAULT_CONFIG
from skrl.envs.loaders.torch import load_isaacgym_env_preview4
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
from skrl.resources.noises.torch import GaussianNoise, OrnsteinUhlenbeckNoise
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.trainers.torch import ParallelTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class StochasticActor(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-5, max_log_std=2):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std)
self.net = nn.Sequential(nn.Linear(self.num_observations, 512),
nn.ReLU(),
nn.Linear(512, 256),
nn.ReLU(),
nn.Linear(256, self.num_actions),
nn.Tanh())
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
def compute(self, inputs, role):
return self.net(inputs["states"]), self.log_std_parameter, {}
class DeterministicActor(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations, 512),
nn.ReLU(),
nn.Linear(512, 256),
nn.ReLU(),
nn.Linear(256, self.num_actions),
nn.Tanh())
def compute(self, inputs, role):
return self.net(inputs["states"]), {}
class Critic(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations + self.num_actions, 512),
nn.ReLU(),
nn.Linear(512, 256),
nn.ReLU(),
nn.Linear(256, 1))
def compute(self, inputs, role):
return self.net(torch.cat([inputs["states"], inputs["taken_actions"]], dim=1)), {}
if __name__ == '__main__':
# load and wrap the Isaac Gym environment
env = load_isaacgym_env_preview4(task_name="Ant", num_envs=192)
env = wrap_env(env)
device = env.device
# instantiate memories as experience replay (unique for each agents).
# scopes (192 envs): DDPG 64, TD3 64 and SAC 64
memory_ddpg = RandomMemory(memory_size=15625, num_envs=64, device=device)
memory_td3 = RandomMemory(memory_size=15625, num_envs=64, device=device)
memory_sac = RandomMemory(memory_size=15625, num_envs=64, device=device)
# instantiate the agents' models (function approximators).
# DDPG requires 4 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ddpg.html#models
models_ddpg = {}
models_ddpg["policy"] = DeterministicActor(env.observation_space, env.action_space, device)
models_ddpg["target_policy"] = DeterministicActor(env.observation_space, env.action_space, device)
models_ddpg["critic"] = Critic(env.observation_space, env.action_space, device)
models_ddpg["target_critic"] = Critic(env.observation_space, env.action_space, device)
# TD3 requires 6 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/td3.html#models
models_td3 = {}
models_td3["policy"] = DeterministicActor(env.observation_space, env.action_space, device)
models_td3["target_policy"] = DeterministicActor(env.observation_space, env.action_space, device)
models_td3["critic_1"] = Critic(env.observation_space, env.action_space, device)
models_td3["critic_2"] = Critic(env.observation_space, env.action_space, device)
models_td3["target_critic_1"] = Critic(env.observation_space, env.action_space, device)
models_td3["target_critic_2"] = Critic(env.observation_space, env.action_space, device)
# SAC requires 5 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/sac.html#models
models_sac = {}
models_sac["policy"] = StochasticActor(env.observation_space, env.action_space, device, clip_actions=True)
models_sac["critic_1"] = Critic(env.observation_space, env.action_space, device)
models_sac["critic_2"] = Critic(env.observation_space, env.action_space, device)
models_sac["target_critic_1"] = Critic(env.observation_space, env.action_space, device)
models_sac["target_critic_2"] = Critic(env.observation_space, env.action_space, device)
# configure and instantiate the agents (visit their documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ddpg.html#configuration-and-hyperparameters
cfg_ddpg = DDPG_DEFAULT_CONFIG.copy()
cfg_ddpg["exploration"]["noise"] = OrnsteinUhlenbeckNoise(theta=0.15, sigma=0.1, base_scale=0.5, device=device)
cfg_ddpg["gradient_steps"] = 1
cfg_ddpg["batch_size"] = 4096
cfg_ddpg["discount_factor"] = 0.99
cfg_ddpg["polyak"] = 0.005
cfg_ddpg["actor_learning_rate"] = 5e-4
cfg_ddpg["critic_learning_rate"] = 5e-4
cfg_ddpg["random_timesteps"] = 80
cfg_ddpg["learning_starts"] = 80
cfg_ddpg["state_preprocessor"] = RunningStandardScaler
cfg_ddpg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg_ddpg["experiment"]["write_interval"] = 800
cfg_ddpg["experiment"]["checkpoint_interval"] = 8000
cfg_ddpg["experiment"]["directory"] = "runs/torch/Ant"
# https://skrl.readthedocs.io/en/latest/api/agents/td3.html#configuration-and-hyperparameters
cfg_td3 = TD3_DEFAULT_CONFIG.copy()
cfg_td3["exploration"]["noise"] = GaussianNoise(0, 0.1, device=device)
cfg_td3["smooth_regularization_noise"] = GaussianNoise(0, 0.2, device=device)
cfg_td3["smooth_regularization_clip"] = 0.5
cfg_td3["gradient_steps"] = 1
cfg_td3["batch_size"] = 4096
cfg_td3["discount_factor"] = 0.99
cfg_td3["polyak"] = 0.005
cfg_td3["actor_learning_rate"] = 5e-4
cfg_td3["critic_learning_rate"] = 5e-4
cfg_td3["random_timesteps"] = 80
cfg_td3["learning_starts"] = 80
cfg_td3["state_preprocessor"] = RunningStandardScaler
cfg_td3["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg_td3["experiment"]["write_interval"] = 800
cfg_td3["experiment"]["checkpoint_interval"] = 8000
cfg_td3["experiment"]["directory"] = "runs/torch/Ant"
# https://skrl.readthedocs.io/en/latest/api/agents/sac.html#configuration-and-hyperparameters
cfg_sac = SAC_DEFAULT_CONFIG.copy()
cfg_sac["gradient_steps"] = 1
cfg_sac["batch_size"] = 4096
cfg_sac["discount_factor"] = 0.99
cfg_sac["polyak"] = 0.005
cfg_sac["actor_learning_rate"] = 5e-4
cfg_sac["critic_learning_rate"] = 5e-4
cfg_sac["random_timesteps"] = 80
cfg_sac["learning_starts"] = 80
cfg_sac["grad_norm_clip"] = 0
cfg_sac["learn_entropy"] = True
cfg_sac["entropy_learning_rate"] = 5e-3
cfg_sac["initial_entropy_value"] = 1.0
cfg_sac["state_preprocessor"] = RunningStandardScaler
cfg_sac["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg_sac["experiment"]["write_interval"] = 800
cfg_sac["experiment"]["checkpoint_interval"] = 8000
cfg_sac["experiment"]["directory"] = "runs/torch/Ant"
agent_ddpg = DDPG(models=models_ddpg,
memory=memory_ddpg,
cfg=cfg_ddpg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
agent_td3 = TD3(models=models_td3,
memory=memory_td3,
cfg=cfg_td3,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
agent_sac = SAC(models=models_sac,
memory=memory_sac,
cfg=cfg_sac,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer and define the agent scopes
cfg_trainer = {"timesteps": 160000, "headless": True}
trainer = ParallelTrainer(cfg=cfg_trainer,
env=env,
agents=[agent_ddpg, agent_td3, agent_sac],
agents_scope=[64, 64, 64]) # scopes (192 envs): DDPG 64, TD3 64 and SAC 64
# start training
trainer.train()
| 9,851 | Python | 46.365384 | 115 | 0.643589 |
Toni-SM/skrl/docs/source/examples/isaacgym/torch_ant_td3.py | import isaacgym
import torch
import torch.nn as nn
# import the skrl components to build the RL system
from skrl.agents.torch.td3 import TD3, TD3_DEFAULT_CONFIG
from skrl.envs.loaders.torch import load_isaacgym_env_preview4
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, Model
from skrl.resources.noises.torch import GaussianNoise
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (deterministic models) using mixins
class DeterministicActor(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations, 512),
nn.ReLU(),
nn.Linear(512, 256),
nn.ReLU(),
nn.Linear(256, self.num_actions),
nn.Tanh())
def compute(self, inputs, role):
return self.net(inputs["states"]), {}
class Critic(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations + self.num_actions, 512),
nn.ReLU(),
nn.Linear(512, 256),
nn.ReLU(),
nn.Linear(256, 1))
def compute(self, inputs, role):
return self.net(torch.cat([inputs["states"], inputs["taken_actions"]], dim=1)), {}
# load and wrap the Isaac Gym environment
env = load_isaacgym_env_preview4(task_name="Ant", num_envs=64)
env = wrap_env(env)
device = env.device
# instantiate a memory as experience replay
memory = RandomMemory(memory_size=15625, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# TD3 requires 6 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/td3.html#models
models = {}
models["policy"] = DeterministicActor(env.observation_space, env.action_space, device)
models["target_policy"] = DeterministicActor(env.observation_space, env.action_space, device)
models["critic_1"] = Critic(env.observation_space, env.action_space, device)
models["critic_2"] = Critic(env.observation_space, env.action_space, device)
models["target_critic_1"] = Critic(env.observation_space, env.action_space, device)
models["target_critic_2"] = Critic(env.observation_space, env.action_space, device)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/td3.html#configuration-and-hyperparameters
cfg = TD3_DEFAULT_CONFIG.copy()
cfg["exploration"]["noise"] = GaussianNoise(0, 0.1, device=device)
cfg["smooth_regularization_noise"] = GaussianNoise(0, 0.1, device=device)
cfg["smooth_regularization_clip"] = 0.5
cfg["gradient_steps"] = 1
cfg["batch_size"] = 4096
cfg["discount_factor"] = 0.99
cfg["polyak"] = 0.005
cfg["actor_learning_rate"] = 5e-4
cfg["critic_learning_rate"] = 5e-4
cfg["random_timesteps"] = 80
cfg["learning_starts"] = 80
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 800
cfg["experiment"]["checkpoint_interval"] = 8000
cfg["experiment"]["directory"] = "runs/torch/Ant"
agent = TD3(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 160000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
| 4,396 | Python | 38.612612 | 93 | 0.681984 |
Toni-SM/skrl/docs/source/examples/isaacgym/jax_cartpole_ppo.py | import isaacgym
import flax.linen as nn
import jax
import jax.numpy as jnp
# import the skrl components to build the RL system
from skrl import config
from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG
from skrl.envs.loaders.jax import load_isaacgym_env_preview4
from skrl.envs.wrappers.jax import wrap_env
from skrl.memories.jax import RandomMemory
from skrl.models.jax import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.jax import RunningStandardScaler
from skrl.resources.schedulers.jax import KLAdaptiveRL
from skrl.trainers.jax import SequentialTrainer
from skrl.utils import set_seed
config.jax.backend = "jax" # or "numpy"
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class Policy(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum", **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.elu(nn.Dense(32)(inputs["states"]))
x = nn.elu(nn.Dense(32)(x))
x = nn.Dense(self.num_actions)(x)
log_std = self.param("log_std", lambda _: jnp.zeros(self.num_actions))
return x, log_std, {}
class Value(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False, **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
DeterministicMixin.__init__(self, clip_actions)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.elu(nn.Dense(32)(inputs["states"]))
x = nn.elu(nn.Dense(32)(x))
x = nn.Dense(1)(x)
return x, {}
# load and wrap the Isaac Gym environment
env = load_isaacgym_env_preview4(task_name="Cartpole")
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=16, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# PPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#models
models = {}
models["policy"] = Policy(env.observation_space, env.action_space, device)
models["value"] = Value(env.observation_space, env.action_space, device)
# instantiate models' state dict
for role, model in models.items():
model.init_state_dict(role)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#configuration-and-hyperparameters
cfg = PPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 16 # memory_size
cfg["learning_epochs"] = 8
cfg["mini_batches"] = 1 # 16 * 512 / 8192
cfg["discount_factor"] = 0.99
cfg["lambda"] = 0.95
cfg["learning_rate"] = 3e-4
cfg["learning_rate_scheduler"] = KLAdaptiveRL
cfg["learning_rate_scheduler_kwargs"] = {"kl_threshold": 0.008}
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 0
cfg["grad_norm_clip"] = 1.0
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = True
cfg["entropy_loss_scale"] = 0.0
cfg["value_loss_scale"] = 2.0
cfg["kl_threshold"] = 0
cfg["rewards_shaper"] = lambda rewards, timestep, timesteps: rewards * 0.1
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 16
cfg["experiment"]["checkpoint_interval"] = 80
cfg["experiment"]["directory"] = "runs/jax/Cartpole"
agent = PPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 1600, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
# # ---------------------------------------------------------
# # comment the code above: `trainer.train()`, and...
# # uncomment the following lines to evaluate a trained agent
# # ---------------------------------------------------------
# from skrl.utils.huggingface import download_model_from_huggingface
# # download the trained agent's checkpoint from Hugging Face Hub and load it
# path = download_model_from_huggingface("skrl/IsaacGymEnvs-Cartpole-PPO", filename="agent.pickle")
# agent.load(path)
# # start evaluation
# trainer.eval()
| 5,087 | Python | 36.411764 | 101 | 0.692943 |
Toni-SM/skrl/docs/source/examples/isaacgym/jax_shadow_hand_ppo.py | import isaacgym
import flax.linen as nn
import jax
import jax.numpy as jnp
# import the skrl components to build the RL system
from skrl import config
from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG
from skrl.envs.loaders.jax import load_isaacgym_env_preview4
from skrl.envs.wrappers.jax import wrap_env
from skrl.memories.jax import RandomMemory
from skrl.models.jax import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.jax import RunningStandardScaler
from skrl.resources.schedulers.jax import KLAdaptiveRL
from skrl.trainers.jax import SequentialTrainer
from skrl.utils import set_seed
config.jax.backend = "jax" # or "numpy"
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class Policy(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum", **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.elu(nn.Dense(512)(inputs["states"]))
x = nn.elu(nn.Dense(512)(x))
x = nn.elu(nn.Dense(256)(x))
x = nn.elu(nn.Dense(128)(x))
x = nn.Dense(self.num_actions)(x)
log_std = self.param("log_std", lambda _: jnp.zeros(self.num_actions))
return x, log_std, {}
class Value(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False, **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
DeterministicMixin.__init__(self, clip_actions)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.elu(nn.Dense(512)(inputs["states"]))
x = nn.elu(nn.Dense(512)(x))
x = nn.elu(nn.Dense(256)(x))
x = nn.elu(nn.Dense(128)(x))
x = nn.Dense(1)(x)
return x, {}
# load and wrap the Isaac Gym environment
env = load_isaacgym_env_preview4(task_name="ShadowHand")
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=8, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# PPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#models
models = {}
models["policy"] = Policy(env.observation_space, env.action_space, device)
models["value"] = Value(env.observation_space, env.action_space, device)
# instantiate models' state dict
for role, model in models.items():
model.init_state_dict(role)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#configuration-and-hyperparameters
cfg = PPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 8 # memory_size
cfg["learning_epochs"] = 5
cfg["mini_batches"] = 4 # 8 * 16384 / 32768
cfg["discount_factor"] = 0.99
cfg["lambda"] = 0.95
cfg["learning_rate"] = 5e-4
cfg["learning_rate_scheduler"] = KLAdaptiveRL
cfg["learning_rate_scheduler_kwargs"] = {"kl_threshold": 0.016}
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 0
cfg["grad_norm_clip"] = 1.0
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = True
cfg["entropy_loss_scale"] = 0.0
cfg["value_loss_scale"] = 2.0
cfg["kl_threshold"] = 0
cfg["rewards_shaper"] = lambda rewards, timestep, timesteps: rewards * 0.01
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 200
cfg["experiment"]["checkpoint_interval"] = 2000
cfg["experiment"]["directory"] = "runs/jax/ShadowHand"
agent = PPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 40000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
| 4,700 | Python | 36.309524 | 101 | 0.699362 |
Toni-SM/skrl/docs/source/examples/isaacgym/jax_factory_task_nut_bolt_place_ppo.py | import isaacgym
import flax.linen as nn
import jax
import jax.numpy as jnp
# import the skrl components to build the RL system
from skrl import config
from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG
from skrl.envs.loaders.jax import load_isaacgym_env_preview4
from skrl.envs.wrappers.jax import wrap_env
from skrl.memories.jax import RandomMemory
from skrl.models.jax import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.jax import RunningStandardScaler
from skrl.trainers.jax import SequentialTrainer
from skrl.utils import set_seed
config.jax.backend = "jax" # or "numpy"
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class Policy(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum", **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.elu(nn.Dense(256)(inputs["states"]))
x = nn.elu(nn.Dense(128)(x))
x = nn.elu(nn.Dense(64)(x))
x = nn.Dense(self.num_actions)(x)
log_std = self.param("log_std", lambda _: jnp.zeros(self.num_actions))
return x, log_std, {}
class Value(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False, **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
DeterministicMixin.__init__(self, clip_actions)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.elu(nn.Dense(256)(inputs["states"]))
x = nn.elu(nn.Dense(128)(x))
x = nn.elu(nn.Dense(64)(x))
x = nn.Dense(1)(x)
return x, {}
# load and wrap the Isaac Gym environment
env = load_isaacgym_env_preview4(task_name="FactoryTaskNutBoltPlace")
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=120, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# PPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#models
models = {}
models["policy"] = Policy(env.observation_space, env.action_space, device)
models["value"] = Value(env.observation_space, env.action_space, device)
# instantiate models' state dict
for role, model in models.items():
model.init_state_dict(role)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#configuration-and-hyperparameters
cfg = PPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 120 # memory_size
cfg["learning_epochs"] = 8
cfg["mini_batches"] = 30 # 120 * 128 / 512
cfg["discount_factor"] = 0.99
cfg["lambda"] = 0.95
cfg["learning_rate"] = 1e-4
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 0
cfg["grad_norm_clip"] = 0
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = True
cfg["entropy_loss_scale"] = 0.0
cfg["value_loss_scale"] = 1.0
cfg["kl_threshold"] = 0.016
cfg["rewards_shaper"] = None
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 614
cfg["experiment"]["checkpoint_interval"] = 6144
cfg["experiment"]["directory"] = "runs/jax/FactoryTaskNutBoltPlace"
agent = PPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 122880, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
# # ---------------------------------------------------------
# # comment the code above: `trainer.train()`, and...
# # uncomment the following lines to evaluate a trained agent
# # ---------------------------------------------------------
# from skrl.utils.huggingface import download_model_from_huggingface
# # download the trained agent's checkpoint from Hugging Face Hub and load it
# path = download_model_from_huggingface("skrl/IsaacGymEnvs-FactoryTaskNutBoltPlace-PPO", filename="agent.pickle")
# agent.load(path)
# # start evaluation
# trainer.eval()
| 5,007 | Python | 36.096296 | 114 | 0.689435 |
Toni-SM/skrl/docs/source/examples/isaacgym/torch_allegro_hand_ppo.py | import isaacgym
import isaacgymenvs
import torch
import torch.nn as nn
# import the skrl components to build the RL system
from skrl.agents.torch.ppo import PPO, PPO_DEFAULT_CONFIG
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.resources.schedulers.torch import KLAdaptiveRL
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
seed = set_seed() # e.g. `set_seed(42)` for fixed seed
# define shared model (stochastic and deterministic models) using mixins
class Shared(GaussianMixin, DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum"):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations, 512),
nn.ELU(),
nn.Linear(512, 256),
nn.ELU(),
nn.Linear(256, 128),
nn.ELU())
self.mean_layer = nn.Linear(128, self.num_actions)
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
self.value_layer = nn.Linear(128, 1)
def act(self, inputs, role):
if role == "policy":
return GaussianMixin.act(self, inputs, role)
elif role == "value":
return DeterministicMixin.act(self, inputs, role)
def compute(self, inputs, role):
if role == "policy":
return self.mean_layer(self.net(inputs["states"])), self.log_std_parameter, {}
elif role == "value":
return self.value_layer(self.net(inputs["states"])), {}
# load and wrap the Isaac Gym environment using the easy-to-use API from NVIDIA
env = isaacgymenvs.make(seed=seed,
task="AllegroHand",
num_envs=16384,
sim_device="cuda:0",
rl_device="cuda:0",
graphics_device_id=0,
headless=True)
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=8, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# PPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#models
models = {}
models["policy"] = Shared(env.observation_space, env.action_space, device)
models["value"] = models["policy"] # same instance: shared model
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#configuration-and-hyperparameters
cfg = PPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 8 # memory_size
cfg["learning_epochs"] = 5
cfg["mini_batches"] = 4 # 8 * 16384 / 32768
cfg["discount_factor"] = 0.99
cfg["lambda"] = 0.95
cfg["learning_rate"] = 5e-4
cfg["learning_rate_scheduler"] = KLAdaptiveRL
cfg["learning_rate_scheduler_kwargs"] = {"kl_threshold": 0.016}
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 0
cfg["grad_norm_clip"] = 1.0
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = True
cfg["entropy_loss_scale"] = 0.0
cfg["value_loss_scale"] = 2.0
cfg["kl_threshold"] = 0
cfg["rewards_shaper"] = lambda rewards, timestep, timesteps: rewards * 0.01
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 200
cfg["experiment"]["checkpoint_interval"] = 2000
cfg["experiment"]["directory"] = "runs/torch/AllegroHand"
agent = PPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 40000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
| 4,742 | Python | 37.25 | 101 | 0.660692 |
Toni-SM/skrl/docs/source/examples/isaacgym/torch_humanoid_ppo.py | import isaacgym
import torch
import torch.nn as nn
# import the skrl components to build the RL system
from skrl.agents.torch.ppo import PPO, PPO_DEFAULT_CONFIG
from skrl.envs.loaders.torch import load_isaacgym_env_preview4
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.resources.schedulers.torch import KLAdaptiveRL
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define shared model (stochastic and deterministic models) using mixins
class Shared(GaussianMixin, DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum"):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations, 400),
nn.ELU(),
nn.Linear(400, 200),
nn.ELU(),
nn.Linear(200, 100),
nn.ELU())
self.mean_layer = nn.Linear(100, self.num_actions)
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
self.value_layer = nn.Linear(100, 1)
def act(self, inputs, role):
if role == "policy":
return GaussianMixin.act(self, inputs, role)
elif role == "value":
return DeterministicMixin.act(self, inputs, role)
def compute(self, inputs, role):
if role == "policy":
return self.mean_layer(self.net(inputs["states"])), self.log_std_parameter, {}
elif role == "value":
return self.value_layer(self.net(inputs["states"])), {}
# load and wrap the Isaac Gym environment
env = load_isaacgym_env_preview4(task_name="Humanoid")
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=32, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# PPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#models
models = {}
models["policy"] = Shared(env.observation_space, env.action_space, device)
models["value"] = models["policy"] # same instance: shared model
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#configuration-and-hyperparameters
cfg = PPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 32 # memory_size
cfg["learning_epochs"] = 5
cfg["mini_batches"] = 4 # 32 * 4096 / 32768
cfg["discount_factor"] = 0.99
cfg["lambda"] = 0.95
cfg["learning_rate"] = 5e-4
cfg["learning_rate_scheduler"] = KLAdaptiveRL
cfg["learning_rate_scheduler_kwargs"] = {"kl_threshold": 0.008}
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 0
cfg["grad_norm_clip"] = 1.0
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = True
cfg["entropy_loss_scale"] = 0.0
cfg["value_loss_scale"] = 2.0
cfg["kl_threshold"] = 0
cfg["rewards_shaper"] = lambda rewards, timestep, timesteps: rewards * 0.01
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 160
cfg["experiment"]["checkpoint_interval"] = 1600
cfg["experiment"]["directory"] = "runs/torch/Humanoid"
agent = PPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 32000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
# # ---------------------------------------------------------
# # comment the code above: `trainer.train()`, and...
# # uncomment the following lines to evaluate a trained agent
# # ---------------------------------------------------------
# from skrl.utils.huggingface import download_model_from_huggingface
# # download the trained agent's checkpoint from Hugging Face Hub and load it
# path = download_model_from_huggingface("skrl/IsaacGymEnvs-Humanoid-PPO", filename="agent.pt")
# agent.load(path)
# # start evaluation
# trainer.eval()
| 5,045 | Python | 37.227272 | 101 | 0.66997 |
Toni-SM/skrl/docs/source/examples/isaacgym/jax_ant_sac.py | import isaacgym
import flax.linen as nn
import jax
import jax.numpy as jnp
# import the skrl components to build the RL system
from skrl import config
from skrl.agents.jax.sac import SAC, SAC_DEFAULT_CONFIG
from skrl.envs.loaders.jax import load_isaacgym_env_preview4
from skrl.envs.wrappers.jax import wrap_env
from skrl.memories.jax import RandomMemory
from skrl.models.jax import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.jax import RunningStandardScaler
from skrl.trainers.jax import SequentialTrainer
from skrl.utils import set_seed
config.jax.backend = "jax" # or "numpy"
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class StochasticActor(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False,
clip_log_std=True, min_log_std=-5, max_log_std=2, reduction="sum", **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.relu(nn.Dense(512)(inputs["states"]))
x = nn.relu(nn.Dense(256)(x))
x = nn.Dense(self.num_actions)(x)
log_std = self.param("log_std", lambda _: jnp.zeros(self.num_actions))
return nn.tanh(x), log_std, {}
class Critic(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False, **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
DeterministicMixin.__init__(self, clip_actions)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = jnp.concatenate([inputs["states"], inputs["taken_actions"]], axis=-1)
x = nn.relu(nn.Dense(512)(x))
x = nn.relu(nn.Dense(256)(x))
x = nn.Dense(1)(x)
return x, {}
# load and wrap the Isaac Gym environment
env = load_isaacgym_env_preview4(task_name="Ant", num_envs=64)
env = wrap_env(env)
device = env.device
# instantiate a memory as experience replay
memory = RandomMemory(memory_size=15625, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# SAC requires 5 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/sac.html#models
models = {}
models["policy"] = StochasticActor(env.observation_space, env.action_space, device, clip_actions=True)
models["critic_1"] = Critic(env.observation_space, env.action_space, device)
models["critic_2"] = Critic(env.observation_space, env.action_space, device)
models["target_critic_1"] = Critic(env.observation_space, env.action_space, device)
models["target_critic_2"] = Critic(env.observation_space, env.action_space, device)
# instantiate models' state dict
for role, model in models.items():
model.init_state_dict(role)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/sac.html#configuration-and-hyperparameters
cfg = SAC_DEFAULT_CONFIG.copy()
cfg["gradient_steps"] = 1
cfg["batch_size"] = 4096
cfg["discount_factor"] = 0.99
cfg["polyak"] = 0.005
cfg["actor_learning_rate"] = 5e-4
cfg["critic_learning_rate"] = 5e-4
cfg["random_timesteps"] = 80
cfg["learning_starts"] = 80
cfg["grad_norm_clip"] = 0
cfg["learn_entropy"] = True
cfg["entropy_learning_rate"] = 5e-3
cfg["initial_entropy_value"] = 1.0
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 800
cfg["experiment"]["checkpoint_interval"] = 8000
cfg["experiment"]["directory"] = "runs/jax/Ant"
agent = SAC(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 160000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
| 4,450 | Python | 37.042735 | 102 | 0.709213 |
Toni-SM/skrl/docs/source/examples/isaacgym/jax_ingenuity_ppo.py | import isaacgym
import isaacgymenvs
import flax.linen as nn
import jax
import jax.numpy as jnp
# import the skrl components to build the RL system
from skrl import config
from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG
from skrl.envs.wrappers.jax import wrap_env
from skrl.memories.jax import RandomMemory
from skrl.models.jax import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.jax import RunningStandardScaler
from skrl.resources.schedulers.jax import KLAdaptiveRL
from skrl.trainers.jax import SequentialTrainer
from skrl.utils import set_seed
config.jax.backend = "jax" # or "numpy"
# seed for reproducibility
seed = set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class Policy(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum", **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.elu(nn.Dense(256)(inputs["states"]))
x = nn.elu(nn.Dense(256)(x))
x = nn.elu(nn.Dense(128)(x))
x = nn.Dense(self.num_actions)(x)
log_std = self.param("log_std", lambda _: jnp.zeros(self.num_actions))
return x, log_std, {}
class Value(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False, **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
DeterministicMixin.__init__(self, clip_actions)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.elu(nn.Dense(256)(inputs["states"]))
x = nn.elu(nn.Dense(256)(x))
x = nn.elu(nn.Dense(128)(x))
x = nn.Dense(1)(x)
return x, {}
# load and wrap the Isaac Gym environment using the easy-to-use API from NVIDIA
env = isaacgymenvs.make(seed=seed,
task="Ingenuity",
num_envs=4096,
sim_device="cuda:0",
rl_device="cuda:0",
graphics_device_id=0,
headless=True)
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=16, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# PPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#models
models = {}
models["policy"] = Policy(env.observation_space, env.action_space, device)
models["value"] = Value(env.observation_space, env.action_space, device)
# instantiate models' state dict
for role, model in models.items():
model.init_state_dict(role)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#configuration-and-hyperparameters
cfg = PPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 16 # memory_size
cfg["learning_epochs"] = 8
cfg["mini_batches"] = 4 # 16 * 4096 / 16384
cfg["discount_factor"] = 0.99
cfg["lambda"] = 0.95
cfg["learning_rate"] = 1e-3
cfg["learning_rate_scheduler"] = KLAdaptiveRL
cfg["learning_rate_scheduler_kwargs"] = {"kl_threshold": 0.016}
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 0
cfg["grad_norm_clip"] = 1.0
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = True
cfg["entropy_loss_scale"] = 0.0
cfg["value_loss_scale"] = 1.0
cfg["kl_threshold"] = 0
cfg["rewards_shaper"] = lambda rewards, timestep, timesteps: rewards * 0.01
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 40
cfg["experiment"]["checkpoint_interval"] = 400
cfg["experiment"]["directory"] = "runs/jax/Ingenuity"
agent = PPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 8000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
# # ---------------------------------------------------------
# # comment the code above: `trainer.train()`, and...
# # uncomment the following lines to evaluate a trained agent
# # ---------------------------------------------------------
# from skrl.utils.huggingface import download_model_from_huggingface
# # download the trained agent's checkpoint from Hugging Face Hub and load it
# path = download_model_from_huggingface("skrl/IsaacGymEnvs-Ingenuity-PPO", filename="agent.pickle")
# agent.load(path)
# # start evaluation
# trainer.eval()
| 5,410 | Python | 36.576389 | 101 | 0.671904 |
Toni-SM/skrl/docs/source/examples/isaacgym/torch_franka_cube_stack_ppo.py | import isaacgym
import torch
import torch.nn as nn
# import the skrl components to build the RL system
from skrl.agents.torch.ppo import PPO, PPO_DEFAULT_CONFIG
from skrl.envs.loaders.torch import load_isaacgym_env_preview4
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.resources.schedulers.torch import KLAdaptiveRL
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define shared model (stochastic and deterministic models) using mixins
class Shared(GaussianMixin, DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum"):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations, 256),
nn.ELU(),
nn.Linear(256, 128),
nn.ELU(),
nn.Linear(128, 64),
nn.ELU())
self.mean_layer = nn.Linear(64, self.num_actions)
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
self.value_layer = nn.Linear(64, 1)
def act(self, inputs, role):
if role == "policy":
return GaussianMixin.act(self, inputs, role)
elif role == "value":
return DeterministicMixin.act(self, inputs, role)
def compute(self, inputs, role):
if role == "policy":
return self.mean_layer(self.net(inputs["states"])), self.log_std_parameter, {}
elif role == "value":
return self.value_layer(self.net(inputs["states"])), {}
# load and wrap the Isaac Gym environment
env = load_isaacgym_env_preview4(task_name="FrankaCubeStack")
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=32, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# PPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#models
models = {}
models["policy"] = Shared(env.observation_space, env.action_space, device)
models["value"] = models["policy"] # same instance: shared model
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#configuration-and-hyperparameters
cfg = PPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 32 # memory_size
cfg["learning_epochs"] = 5
cfg["mini_batches"] = 16 # 32 * 8192 / 16384
cfg["discount_factor"] = 0.99
cfg["lambda"] = 0.95
cfg["learning_rate"] = 5e-4
cfg["learning_rate_scheduler"] = KLAdaptiveRL
cfg["learning_rate_scheduler_kwargs"] = {"kl_threshold": 0.008}
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 0
cfg["grad_norm_clip"] = 1.0
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = True
cfg["entropy_loss_scale"] = 0.0
cfg["value_loss_scale"] = 2.0
cfg["kl_threshold"] = 0
cfg["rewards_shaper"] = None
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 1600
cfg["experiment"]["checkpoint_interval"] = 16000
cfg["experiment"]["directory"] = "runs/torch/FrankaCubeStack"
agent = PPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 320000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
| 4,469 | Python | 36.881356 | 101 | 0.681137 |
Toni-SM/skrl/docs/source/examples/isaacgym/torch_ant_sac.py | import isaacgym
import torch
import torch.nn as nn
# import the skrl components to build the RL system
from skrl.agents.torch.sac import SAC, SAC_DEFAULT_CONFIG
from skrl.envs.loaders.torch import load_isaacgym_env_preview4
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class StochasticActor(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-5, max_log_std=2):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std)
self.net = nn.Sequential(nn.Linear(self.num_observations, 512),
nn.ReLU(),
nn.Linear(512, 256),
nn.ReLU(),
nn.Linear(256, self.num_actions),
nn.Tanh())
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
def compute(self, inputs, role):
return self.net(inputs["states"]), self.log_std_parameter, {}
class Critic(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations + self.num_actions, 512),
nn.ReLU(),
nn.Linear(512, 256),
nn.ReLU(),
nn.Linear(256, 1))
def compute(self, inputs, role):
return self.net(torch.cat([inputs["states"], inputs["taken_actions"]], dim=1)), {}
# load and wrap the Isaac Gym environment
env = load_isaacgym_env_preview4(task_name="Ant", num_envs=64)
env = wrap_env(env)
device = env.device
# instantiate a memory as experience replay
memory = RandomMemory(memory_size=15625, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# SAC requires 5 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/sac.html#models
models = {}
models["policy"] = StochasticActor(env.observation_space, env.action_space, device, clip_actions=True)
models["critic_1"] = Critic(env.observation_space, env.action_space, device)
models["critic_2"] = Critic(env.observation_space, env.action_space, device)
models["target_critic_1"] = Critic(env.observation_space, env.action_space, device)
models["target_critic_2"] = Critic(env.observation_space, env.action_space, device)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/sac.html#configuration-and-hyperparameters
cfg = SAC_DEFAULT_CONFIG.copy()
cfg["gradient_steps"] = 1
cfg["batch_size"] = 4096
cfg["discount_factor"] = 0.99
cfg["polyak"] = 0.005
cfg["actor_learning_rate"] = 5e-4
cfg["critic_learning_rate"] = 5e-4
cfg["random_timesteps"] = 80
cfg["learning_starts"] = 80
cfg["grad_norm_clip"] = 0
cfg["learn_entropy"] = True
cfg["entropy_learning_rate"] = 5e-3
cfg["initial_entropy_value"] = 1.0
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 800
cfg["experiment"]["checkpoint_interval"] = 8000
cfg["experiment"]["directory"] = "runs/torch/Ant"
agent = SAC(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 160000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
| 4,433 | Python | 38.589285 | 102 | 0.674036 |
Toni-SM/skrl/docs/source/examples/isaacgym/torch_ant_ppo.py | import isaacgym
import torch
import torch.nn as nn
# import the skrl components to build the RL system
from skrl.agents.torch.ppo import PPO, PPO_DEFAULT_CONFIG
from skrl.envs.loaders.torch import load_isaacgym_env_preview4
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.resources.schedulers.torch import KLAdaptiveRL
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define shared model (stochastic and deterministic models) using mixins
class Shared(GaussianMixin, DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum"):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations, 256),
nn.ELU(),
nn.Linear(256, 128),
nn.ELU(),
nn.Linear(128, 64),
nn.ELU())
self.mean_layer = nn.Linear(64, self.num_actions)
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
self.value_layer = nn.Linear(64, 1)
def act(self, inputs, role):
if role == "policy":
return GaussianMixin.act(self, inputs, role)
elif role == "value":
return DeterministicMixin.act(self, inputs, role)
def compute(self, inputs, role):
if role == "policy":
return self.mean_layer(self.net(inputs["states"])), self.log_std_parameter, {}
elif role == "value":
return self.value_layer(self.net(inputs["states"])), {}
# load and wrap the Isaac Gym environment
env = load_isaacgym_env_preview4(task_name="Ant")
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=16, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# PPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#models
models = {}
models["policy"] = Shared(env.observation_space, env.action_space, device)
models["value"] = models["policy"] # same instance: shared model
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#configuration-and-hyperparameters
cfg = PPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 16 # memory_size
cfg["learning_epochs"] = 4
cfg["mini_batches"] = 2 # 16 * 4096 / 32768
cfg["discount_factor"] = 0.99
cfg["lambda"] = 0.95
cfg["learning_rate"] = 3e-4
cfg["learning_rate_scheduler"] = KLAdaptiveRL
cfg["learning_rate_scheduler_kwargs"] = {"kl_threshold": 0.008}
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 0
cfg["grad_norm_clip"] = 0
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = True
cfg["entropy_loss_scale"] = 0.0
cfg["value_loss_scale"] = 1.0
cfg["kl_threshold"] = 0
cfg["rewards_shaper"] = lambda rewards, timestep, timesteps: rewards * 0.01
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 40
cfg["experiment"]["checkpoint_interval"] = 400
cfg["experiment"]["directory"] = "runs/torch/Ant"
agent = PPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 8000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
# # ---------------------------------------------------------
# # comment the code above: `trainer.train()`, and...
# # uncomment the following lines to evaluate a trained agent
# # ---------------------------------------------------------
# from skrl.utils.huggingface import download_model_from_huggingface
# # download the trained agent's checkpoint from Hugging Face Hub and load it
# path = download_model_from_huggingface("skrl/IsaacGymEnvs-Ant-PPO", filename="agent.pt")
# agent.load(path)
# # start evaluation
# trainer.eval()
| 5,022 | Python | 37.05303 | 101 | 0.668658 |
Toni-SM/skrl/docs/source/examples/isaacgym/torch_ant_ddpg_td3_sac_sequential_shared_memory.py | import isaacgym
import torch
import torch.nn as nn
# import the skrl components to build the RL system
from skrl.agents.torch.ddpg import DDPG, DDPG_DEFAULT_CONFIG
from skrl.agents.torch.sac import SAC, SAC_DEFAULT_CONFIG
from skrl.agents.torch.td3 import TD3, TD3_DEFAULT_CONFIG
from skrl.envs.loaders.torch import load_isaacgym_env_preview4
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
from skrl.resources.noises.torch import GaussianNoise, OrnsteinUhlenbeckNoise
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class StochasticActor(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-5, max_log_std=2):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std)
self.net = nn.Sequential(nn.Linear(self.num_observations, 512),
nn.ReLU(),
nn.Linear(512, 256),
nn.ReLU(),
nn.Linear(256, self.num_actions),
nn.Tanh())
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
def compute(self, inputs, role):
return self.net(inputs["states"]), self.log_std_parameter, {}
class DeterministicActor(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations, 512),
nn.ReLU(),
nn.Linear(512, 256),
nn.ReLU(),
nn.Linear(256, self.num_actions),
nn.Tanh())
def compute(self, inputs, role):
return self.net(inputs["states"]), {}
class Critic(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations + self.num_actions, 512),
nn.ReLU(),
nn.Linear(512, 256),
nn.ReLU(),
nn.Linear(256, 1))
def compute(self, inputs, role):
return self.net(torch.cat([inputs["states"], inputs["taken_actions"]], dim=1)), {}
# load and wrap the Isaac Gym environment
env = load_isaacgym_env_preview4(task_name="Ant", num_envs=64)
env = wrap_env(env)
device = env.device
# instantiate a memory as experience replay (unique to all agents)
memory = RandomMemory(memory_size=15625, num_envs=env.num_envs, device=device)
# instantiate the agents' models (function approximators).
# DDPG requires 4 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ddpg.html#models
models_ddpg = {}
models_ddpg["policy"] = DeterministicActor(env.observation_space, env.action_space, device)
models_ddpg["target_policy"] = DeterministicActor(env.observation_space, env.action_space, device)
models_ddpg["critic"] = Critic(env.observation_space, env.action_space, device)
models_ddpg["target_critic"] = Critic(env.observation_space, env.action_space, device)
# TD3 requires 6 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/td3.html#models
models_td3 = {}
models_td3["policy"] = DeterministicActor(env.observation_space, env.action_space, device)
models_td3["target_policy"] = DeterministicActor(env.observation_space, env.action_space, device)
models_td3["critic_1"] = Critic(env.observation_space, env.action_space, device)
models_td3["critic_2"] = Critic(env.observation_space, env.action_space, device)
models_td3["target_critic_1"] = Critic(env.observation_space, env.action_space, device)
models_td3["target_critic_2"] = Critic(env.observation_space, env.action_space, device)
# SAC requires 5 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/sac.html#models
models_sac = {}
models_sac["policy"] = StochasticActor(env.observation_space, env.action_space, device, clip_actions=True)
models_sac["critic_1"] = Critic(env.observation_space, env.action_space, device)
models_sac["critic_2"] = Critic(env.observation_space, env.action_space, device)
models_sac["target_critic_1"] = Critic(env.observation_space, env.action_space, device)
models_sac["target_critic_2"] = Critic(env.observation_space, env.action_space, device)
# configure and instantiate the agents (visit their documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ddpg.html#configuration-and-hyperparameters
cfg_ddpg = DDPG_DEFAULT_CONFIG.copy()
cfg_ddpg["exploration"]["noise"] = OrnsteinUhlenbeckNoise(theta=0.15, sigma=0.1, base_scale=0.5, device=device)
cfg_ddpg["gradient_steps"] = 1
cfg_ddpg["batch_size"] = 4096
cfg_ddpg["discount_factor"] = 0.99
cfg_ddpg["polyak"] = 0.005
cfg_ddpg["actor_learning_rate"] = 5e-4
cfg_ddpg["critic_learning_rate"] = 5e-4
cfg_ddpg["random_timesteps"] = 80
cfg_ddpg["learning_starts"] = 80
cfg_ddpg["state_preprocessor"] = RunningStandardScaler
cfg_ddpg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg_ddpg["experiment"]["write_interval"] = 800
cfg_ddpg["experiment"]["checkpoint_interval"] = 8000
cfg_ddpg["experiment"]["directory"] = "runs/torch/Ant"
# https://skrl.readthedocs.io/en/latest/api/agents/td3.html#configuration-and-hyperparameters
cfg_td3 = TD3_DEFAULT_CONFIG.copy()
cfg_td3["exploration"]["noise"] = GaussianNoise(0, 0.1, device=device)
cfg_td3["smooth_regularization_noise"] = GaussianNoise(0, 0.2, device=device)
cfg_td3["smooth_regularization_clip"] = 0.5
cfg_td3["gradient_steps"] = 1
cfg_td3["batch_size"] = 4096
cfg_td3["discount_factor"] = 0.99
cfg_td3["polyak"] = 0.005
cfg_td3["actor_learning_rate"] = 5e-4
cfg_td3["critic_learning_rate"] = 5e-4
cfg_td3["random_timesteps"] = 80
cfg_td3["learning_starts"] = 80
cfg_td3["state_preprocessor"] = RunningStandardScaler
cfg_td3["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg_td3["experiment"]["write_interval"] = 800
cfg_td3["experiment"]["checkpoint_interval"] = 8000
cfg_td3["experiment"]["directory"] = "runs/torch/Ant"
# https://skrl.readthedocs.io/en/latest/api/agents/sac.html#configuration-and-hyperparameters
cfg_sac = SAC_DEFAULT_CONFIG.copy()
cfg_sac["gradient_steps"] = 1
cfg_sac["batch_size"] = 4096
cfg_sac["discount_factor"] = 0.99
cfg_sac["polyak"] = 0.005
cfg_sac["actor_learning_rate"] = 5e-4
cfg_sac["critic_learning_rate"] = 5e-4
cfg_sac["random_timesteps"] = 80
cfg_sac["learning_starts"] = 80
cfg_sac["grad_norm_clip"] = 0
cfg_sac["learn_entropy"] = True
cfg_sac["entropy_learning_rate"] = 5e-3
cfg_sac["initial_entropy_value"] = 1.0
cfg_sac["state_preprocessor"] = RunningStandardScaler
cfg_sac["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg_sac["experiment"]["write_interval"] = 800
cfg_sac["experiment"]["checkpoint_interval"] = 8000
cfg_sac["experiment"]["directory"] = "runs/torch/Ant"
agent_ddpg = DDPG(models=models_ddpg,
memory=memory, # shared memory
cfg=cfg_ddpg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
agent_td3 = TD3(models=models_td3,
memory=memory, # shared memory
cfg=cfg_td3,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
agent_sac = SAC(models=models_sac,
memory=memory, # shared memory
cfg=cfg_sac,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 160000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer,
env=env,
agents=[agent_ddpg, agent_td3, agent_sac],
agents_scope=[])
# start training
trainer.train()
| 9,123 | Python | 43.945813 | 111 | 0.674449 |
Toni-SM/skrl/docs/source/examples/isaacgym/jax_trifinger_ppo.py | import isaacgym
import flax.linen as nn
import jax
import jax.numpy as jnp
# import the skrl components to build the RL system
from skrl import config
from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG
from skrl.envs.loaders.jax import load_isaacgym_env_preview4
from skrl.envs.wrappers.jax import wrap_env
from skrl.memories.jax import RandomMemory
from skrl.models.jax import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.jax import RunningStandardScaler
from skrl.resources.schedulers.jax import KLAdaptiveRL
from skrl.trainers.jax import SequentialTrainer
from skrl.utils import set_seed
config.jax.backend = "jax" # or "numpy"
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class Policy(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum", **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.elu(nn.Dense(256)(inputs["states"]))
x = nn.elu(nn.Dense(256)(x))
x = nn.elu(nn.Dense(128)(x))
x = nn.elu(nn.Dense(128)(x))
x = nn.Dense(self.num_actions)(x)
log_std = self.param("log_std", lambda _: jnp.zeros(self.num_actions))
return x, log_std, {}
class Value(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False, **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
DeterministicMixin.__init__(self, clip_actions)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.elu(nn.Dense(256)(inputs["states"]))
x = nn.elu(nn.Dense(256)(x))
x = nn.elu(nn.Dense(128)(x))
x = nn.elu(nn.Dense(128)(x))
x = nn.Dense(1)(x)
return x, {}
# load and wrap the Isaac Gym environment
env = load_isaacgym_env_preview4(task_name="Trifinger")
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=8, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# PPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#models
models = {}
models["policy"] = Policy(env.observation_space, env.action_space, device)
models["value"] = Value(env.observation_space, env.action_space, device)
# instantiate models' state dict
for role, model in models.items():
model.init_state_dict(role)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#configuration-and-hyperparameters
cfg = PPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 8 # memory_size
cfg["learning_epochs"] = 4
cfg["mini_batches"] = 8 # 8 * 16384 / 16384
cfg["discount_factor"] = 0.99
cfg["lambda"] = 0.95
cfg["learning_rate"] = 3e-4
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 0
cfg["grad_norm_clip"] = 1.0
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = True
cfg["entropy_loss_scale"] = 0.0
cfg["value_loss_scale"] = 2.0
cfg["kl_threshold"] = 0.016
cfg["rewards_shaper"] = lambda rewards, timestep, timesteps: rewards * 0.01
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 800
cfg["experiment"]["checkpoint_interval"] = 8000
cfg["experiment"]["directory"] = "runs/jax/Trifinger"
agent = PPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 160000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
| 4,593 | Python | 36.048387 | 101 | 0.698454 |
Toni-SM/skrl/docs/source/examples/isaacgym/jax_anymal_terrain_ppo.py | import isaacgym
import flax.linen as nn
import jax
import jax.numpy as jnp
# import the skrl components to build the RL system
from skrl import config
from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG
from skrl.envs.loaders.jax import load_isaacgym_env_preview4
from skrl.envs.wrappers.jax import wrap_env
from skrl.memories.jax import RandomMemory
from skrl.models.jax import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.jax import RunningStandardScaler
from skrl.resources.schedulers.jax import KLAdaptiveRL
from skrl.trainers.jax import SequentialTrainer
from skrl.utils import set_seed
config.jax.backend = "jax" # or "numpy"
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class Policy(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum", **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.elu(nn.Dense(512)(inputs["states"]))
x = nn.elu(nn.Dense(256)(x))
x = nn.elu(nn.Dense(128)(x))
x = nn.Dense(self.num_actions)(x)
log_std = self.param("log_std", lambda _: jnp.zeros(self.num_actions))
return x, log_std, {}
class Value(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False, **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
DeterministicMixin.__init__(self, clip_actions)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.elu(nn.Dense(512)(inputs["states"]))
x = nn.elu(nn.Dense(256)(x))
x = nn.elu(nn.Dense(128)(x))
x = nn.Dense(1)(x)
return x, {}
# load and wrap the Isaac Gym environment
env = load_isaacgym_env_preview4(task_name="AnymalTerrain")
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=24, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# PPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#models
models = {}
models["policy"] = Policy(env.observation_space, env.action_space, device)
models["value"] = Value(env.observation_space, env.action_space, device)
# instantiate models' state dict
for role, model in models.items():
model.init_state_dict(role)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#configuration-and-hyperparameters
cfg = PPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 24 # memory_size
cfg["learning_epochs"] = 5
cfg["mini_batches"] = 6 # 24 * 4096 / 16384
cfg["discount_factor"] = 0.99
cfg["lambda"] = 0.95
cfg["learning_rate"] = 3e-4
cfg["learning_rate_scheduler"] = KLAdaptiveRL
cfg["learning_rate_scheduler_kwargs"] = {"kl_threshold": 0.008}
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 0
cfg["grad_norm_clip"] = 1.0
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = True
cfg["entropy_loss_scale"] = 0.001
cfg["value_loss_scale"] = 1.0
cfg["kl_threshold"] = 0
cfg["rewards_shaper"] = None
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 180
cfg["experiment"]["checkpoint_interval"] = 1800
cfg["experiment"]["directory"] = "runs/jax/AnymalTerrain"
agent = PPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 36000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
# # ---------------------------------------------------------
# # comment the code above: `trainer.train()`, and...
# # uncomment the following lines to evaluate a trained agent
# # ---------------------------------------------------------
# from skrl.utils.huggingface import download_model_from_huggingface
# # download the trained agent's checkpoint from Hugging Face Hub and load it
# path = download_model_from_huggingface("skrl/IsaacGymEnvs-AnymalTerrain-PPO", filename="agent.pickle")
# agent.load(path)
# # start evaluation
# trainer.eval()
| 5,142 | Python | 36.268116 | 104 | 0.690587 |
Toni-SM/skrl/docs/source/examples/isaacgym/jax_ball_balance_ppo.py | import isaacgym
import flax.linen as nn
import jax
import jax.numpy as jnp
# import the skrl components to build the RL system
from skrl import config
from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG
from skrl.envs.loaders.jax import load_isaacgym_env_preview4
from skrl.envs.wrappers.jax import wrap_env
from skrl.memories.jax import RandomMemory
from skrl.models.jax import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.jax import RunningStandardScaler
from skrl.resources.schedulers.jax import KLAdaptiveRL
from skrl.trainers.jax import SequentialTrainer
from skrl.utils import set_seed
config.jax.backend = "jax" # or "numpy"
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class Policy(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum", **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.elu(nn.Dense(128)(inputs["states"]))
x = nn.elu(nn.Dense(64)(x))
x = nn.elu(nn.Dense(32)(x))
x = nn.Dense(self.num_actions)(x)
log_std = self.param("log_std", lambda _: jnp.zeros(self.num_actions))
return x, log_std, {}
class Value(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False, **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
DeterministicMixin.__init__(self, clip_actions)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.elu(nn.Dense(128)(inputs["states"]))
x = nn.elu(nn.Dense(64)(x))
x = nn.elu(nn.Dense(32)(x))
x = nn.Dense(1)(x)
return x, {}
# load and wrap the Isaac Gym environment
env = load_isaacgym_env_preview4(task_name="BallBalance")
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=16, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# PPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#models
models = {}
models["policy"] = Policy(env.observation_space, env.action_space, device)
models["value"] = Value(env.observation_space, env.action_space, device)
# instantiate models' state dict
for role, model in models.items():
model.init_state_dict(role)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#configuration-and-hyperparameters
cfg = PPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 16 # memory_size
cfg["learning_epochs"] = 8
cfg["mini_batches"] = 8 # 16 * 4096 / 8192
cfg["discount_factor"] = 0.99
cfg["lambda"] = 0.95
cfg["learning_rate"] = 3e-4
cfg["learning_rate_scheduler"] = KLAdaptiveRL
cfg["learning_rate_scheduler_kwargs"] = {"kl_threshold": 0.008}
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 0
cfg["grad_norm_clip"] = 1.0
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = True
cfg["entropy_loss_scale"] = 0.0
cfg["value_loss_scale"] = 2.0
cfg["kl_threshold"] = 0
cfg["rewards_shaper"] = lambda rewards, timestep, timesteps: rewards * 0.1
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 20
cfg["experiment"]["checkpoint_interval"] = 200
cfg["experiment"]["directory"] = "runs/jax/BallBalance"
agent = PPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 4000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
# # ---------------------------------------------------------
# # comment the code above: `trainer.train()`, and...
# # uncomment the following lines to evaluate a trained agent
# # ---------------------------------------------------------
# from skrl.utils.huggingface import download_model_from_huggingface
# # download the trained agent's checkpoint from Hugging Face Hub and load it
# path = download_model_from_huggingface("skrl/IsaacGymEnvs-BallBalance-PPO", filename="agent.pickle")
# agent.load(path)
# # start evaluation
# trainer.eval()
| 5,172 | Python | 36.485507 | 102 | 0.690255 |
Toni-SM/skrl/docs/source/examples/isaacgym/jax_ant_ddpg.py | import isaacgym
import flax.linen as nn
import jax
import jax.numpy as jnp
# import the skrl components to build the RL system
from skrl import config
from skrl.agents.jax.ddpg import DDPG, DDPG_DEFAULT_CONFIG
from skrl.envs.loaders.jax import load_isaacgym_env_preview4
from skrl.envs.wrappers.jax import wrap_env
from skrl.memories.jax import RandomMemory
from skrl.models.jax import DeterministicMixin, Model
from skrl.resources.noises.jax import OrnsteinUhlenbeckNoise
from skrl.resources.preprocessors.jax import RunningStandardScaler
from skrl.trainers.jax import SequentialTrainer
from skrl.utils import set_seed
config.jax.backend = "jax" # or "numpy"
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (deterministic models) using mixins
class DeterministicActor(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False, **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
DeterministicMixin.__init__(self, clip_actions)
@nn.compact
def __call__(self, inputs, role):
x = nn.relu(nn.Dense(512)(inputs["states"]))
x = nn.relu(nn.Dense(256)(x))
x = nn.Dense(self.num_actions)(x)
return nn.tanh(x), {}
class Critic(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False, **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
DeterministicMixin.__init__(self, clip_actions)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = jnp.concatenate([inputs["states"], inputs["taken_actions"]], axis=-1)
x = nn.relu(nn.Dense(512)(x))
x = nn.relu(nn.Dense(256)(x))
x = nn.Dense(1)(x)
return x, {}
# load and wrap the Isaac Gym environment
env = load_isaacgym_env_preview4(task_name="Ant", num_envs=64)
env = wrap_env(env)
device = env.device
# instantiate a memory as experience replay
memory = RandomMemory(memory_size=15625, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# DDPG requires 4 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ddpg.html#models
models = {}
models["policy"] = DeterministicActor(env.observation_space, env.action_space, device)
models["target_policy"] = DeterministicActor(env.observation_space, env.action_space, device)
models["critic"] = Critic(env.observation_space, env.action_space, device)
models["target_critic"] = Critic(env.observation_space, env.action_space, device)
# instantiate models' state dict
for role, model in models.items():
model.init_state_dict(role)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ddpg.html#configuration-and-hyperparameters
cfg = DDPG_DEFAULT_CONFIG.copy()
cfg["exploration"]["noise"] = OrnsteinUhlenbeckNoise(theta=0.15, sigma=0.1, base_scale=0.5, device=device)
cfg["gradient_steps"] = 1
cfg["batch_size"] = 4096
cfg["discount_factor"] = 0.99
cfg["polyak"] = 0.005
cfg["actor_learning_rate"] = 5e-4
cfg["critic_learning_rate"] = 5e-4
cfg["random_timesteps"] = 80
cfg["learning_starts"] = 80
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 800
cfg["experiment"]["checkpoint_interval"] = 8000
cfg["experiment"]["directory"] = "runs/jax/Ant"
agent = DDPG(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 160000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
| 4,118 | Python | 35.776785 | 106 | 0.71661 |
Toni-SM/skrl/docs/source/examples/isaacgym/jax_allegro_hand_ppo.py | import isaacgym
import isaacgymenvs
import flax.linen as nn
import jax
import jax.numpy as jnp
# import the skrl components to build the RL system
from skrl import config
from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG
from skrl.envs.wrappers.jax import wrap_env
from skrl.memories.jax import RandomMemory
from skrl.models.jax import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.jax import RunningStandardScaler
from skrl.resources.schedulers.jax import KLAdaptiveRL
from skrl.trainers.jax import SequentialTrainer
from skrl.utils import set_seed
config.jax.backend = "jax" # or "numpy"
# seed for reproducibility
seed = set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class Policy(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum", **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.elu(nn.Dense(512)(inputs["states"]))
x = nn.elu(nn.Dense(256)(x))
x = nn.elu(nn.Dense(128)(x))
x = nn.Dense(self.num_actions)(x)
log_std = self.param("log_std", lambda _: jnp.zeros(self.num_actions))
return x, log_std, {}
class Value(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False, **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
DeterministicMixin.__init__(self, clip_actions)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.elu(nn.Dense(512)(inputs["states"]))
x = nn.elu(nn.Dense(256)(x))
x = nn.elu(nn.Dense(128)(x))
x = nn.Dense(1)(x)
return x, {}
# load and wrap the Isaac Gym environment using the easy-to-use API from NVIDIA
env = isaacgymenvs.make(seed=seed,
task="AllegroHand",
num_envs=16384,
sim_device="cuda:0",
rl_device="cuda:0",
graphics_device_id=0,
headless=True)
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=8, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# PPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#models
models = {}
models["policy"] = Policy(env.observation_space, env.action_space, device)
models["value"] = Value(env.observation_space, env.action_space, device)
# instantiate models' state dict
for role, model in models.items():
model.init_state_dict(role)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#configuration-and-hyperparameters
cfg = PPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 8 # memory_size
cfg["learning_epochs"] = 5
cfg["mini_batches"] = 4 # 8 * 16384 / 32768
cfg["discount_factor"] = 0.99
cfg["lambda"] = 0.95
cfg["learning_rate"] = 5e-4
cfg["learning_rate_scheduler"] = KLAdaptiveRL
cfg["learning_rate_scheduler_kwargs"] = {"kl_threshold": 0.016}
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 0
cfg["grad_norm_clip"] = 1.0
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = True
cfg["entropy_loss_scale"] = 0.0
cfg["value_loss_scale"] = 2.0
cfg["kl_threshold"] = 0
cfg["rewards_shaper"] = lambda rewards, timestep, timesteps: rewards * 0.01
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 200
cfg["experiment"]["checkpoint_interval"] = 2000
cfg["experiment"]["directory"] = "runs/jax/AllegroHand"
agent = PPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 40000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
| 4,867 | Python | 36.446154 | 101 | 0.682351 |
Toni-SM/skrl/docs/source/examples/isaacgym/torch_anymal_terrain_ppo.py | import isaacgym
import torch
import torch.nn as nn
# import the skrl components to build the RL system
from skrl.agents.torch.ppo import PPO, PPO_DEFAULT_CONFIG
from skrl.envs.loaders.torch import load_isaacgym_env_preview4
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.resources.schedulers.torch import KLAdaptiveRL
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class Policy(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum"):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
self.net = nn.Sequential(nn.Linear(self.num_observations, 512),
nn.ELU(),
nn.Linear(512, 256),
nn.ELU(),
nn.Linear(256, 128),
nn.ELU(),
nn.Linear(128, self.num_actions))
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
def compute(self, inputs, role):
return self.net(inputs["states"]), self.log_std_parameter, {}
class Value(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations, 512),
nn.ELU(),
nn.Linear(512, 256),
nn.ELU(),
nn.Linear(256, 128),
nn.ELU(),
nn.Linear(128, 1))
def compute(self, inputs, role):
return self.net(inputs["states"]), {}
# load and wrap the Isaac Gym environment
env = load_isaacgym_env_preview4(task_name="AnymalTerrain")
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=24, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# PPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#models
models = {}
models["policy"] = Policy(env.observation_space, env.action_space, device)
models["value"] = Value(env.observation_space, env.action_space, device)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#configuration-and-hyperparameters
cfg = PPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 24 # memory_size
cfg["learning_epochs"] = 5
cfg["mini_batches"] = 6 # 24 * 4096 / 16384
cfg["discount_factor"] = 0.99
cfg["lambda"] = 0.95
cfg["learning_rate"] = 3e-4
cfg["learning_rate_scheduler"] = KLAdaptiveRL
cfg["learning_rate_scheduler_kwargs"] = {"kl_threshold": 0.008}
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 0
cfg["grad_norm_clip"] = 1.0
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = True
cfg["entropy_loss_scale"] = 0.001
cfg["value_loss_scale"] = 1.0
cfg["kl_threshold"] = 0
cfg["rewards_shaper"] = None
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 180
cfg["experiment"]["checkpoint_interval"] = 1800
cfg["experiment"]["directory"] = "runs/torch/AnymalTerrain"
agent = PPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 36000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
# # ---------------------------------------------------------
# # comment the code above: `trainer.train()`, and...
# # uncomment the following lines to evaluate a trained agent
# # ---------------------------------------------------------
# from skrl.utils.huggingface import download_model_from_huggingface
# # download the trained agent's checkpoint from Hugging Face Hub and load it
# path = download_model_from_huggingface("skrl/IsaacGymEnvs-AnymalTerrain-PPO", filename="agent.pt")
# agent.load(path)
# # start evaluation
# trainer.eval()
| 5,239 | Python | 37.814815 | 101 | 0.64917 |
Toni-SM/skrl/docs/source/examples/isaacgym/jax_franka_cube_stack_ppo.py | import isaacgym
import flax.linen as nn
import jax
import jax.numpy as jnp
# import the skrl components to build the RL system
from skrl import config
from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG
from skrl.envs.loaders.jax import load_isaacgym_env_preview4
from skrl.envs.wrappers.jax import wrap_env
from skrl.memories.jax import RandomMemory
from skrl.models.jax import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.jax import RunningStandardScaler
from skrl.resources.schedulers.jax import KLAdaptiveRL
from skrl.trainers.jax import SequentialTrainer
from skrl.utils import set_seed
config.jax.backend = "jax" # or "numpy"
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class Policy(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum", **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.elu(nn.Dense(256)(inputs["states"]))
x = nn.elu(nn.Dense(128)(x))
x = nn.elu(nn.Dense(64)(x))
x = nn.Dense(self.num_actions)(x)
log_std = self.param("log_std", lambda _: jnp.zeros(self.num_actions))
return x, log_std, {}
class Value(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False, **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
DeterministicMixin.__init__(self, clip_actions)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.elu(nn.Dense(256)(inputs["states"]))
x = nn.elu(nn.Dense(128)(x))
x = nn.elu(nn.Dense(64)(x))
x = nn.Dense(1)(x)
return x, {}
# load and wrap the Isaac Gym environment
env = load_isaacgym_env_preview4(task_name="FrankaCubeStack")
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=32, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# PPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#models
models = {}
models["policy"] = Policy(env.observation_space, env.action_space, device)
models["value"] = Value(env.observation_space, env.action_space, device)
# instantiate models' state dict
for role, model in models.items():
model.init_state_dict(role)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#configuration-and-hyperparameters
cfg = PPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 32 # memory_size
cfg["learning_epochs"] = 5
cfg["mini_batches"] = 16 # 32 * 8192 / 16384
cfg["discount_factor"] = 0.99
cfg["lambda"] = 0.95
cfg["learning_rate"] = 5e-4
cfg["learning_rate_scheduler"] = KLAdaptiveRL
cfg["learning_rate_scheduler_kwargs"] = {"kl_threshold": 0.008}
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 0
cfg["grad_norm_clip"] = 1.0
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = True
cfg["entropy_loss_scale"] = 0.0
cfg["value_loss_scale"] = 2.0
cfg["kl_threshold"] = 0
cfg["rewards_shaper"] = None
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 1600
cfg["experiment"]["checkpoint_interval"] = 16000
cfg["experiment"]["directory"] = "runs/jax/FrankaCubeStack"
agent = PPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 320000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
| 4,593 | Python | 36.048387 | 101 | 0.703462 |
Toni-SM/skrl/docs/source/examples/isaacgym/torch_trifinger_ppo.py | import isaacgym
import torch
import torch.nn as nn
# import the skrl components to build the RL system
from skrl.agents.torch.ppo import PPO, PPO_DEFAULT_CONFIG
from skrl.envs.loaders.torch import load_isaacgym_env_preview4
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.resources.schedulers.torch import KLAdaptiveRL
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define shared model (stochastic and deterministic models) using mixins
class Shared(GaussianMixin, DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum"):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations, 256),
nn.ELU(),
nn.Linear(256, 256),
nn.ELU(),
nn.Linear(256, 128),
nn.ELU(),
nn.Linear(128, 128),
nn.ELU())
self.mean_layer = nn.Linear(128, self.num_actions)
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
self.value_layer = nn.Linear(128, 1)
def act(self, inputs, role):
if role == "policy":
return GaussianMixin.act(self, inputs, role)
elif role == "value":
return DeterministicMixin.act(self, inputs, role)
def compute(self, inputs, role):
if role == "policy":
return self.mean_layer(self.net(inputs["states"])), self.log_std_parameter, {}
elif role == "value":
return self.value_layer(self.net(inputs["states"])), {}
# load and wrap the Isaac Gym environment
env = load_isaacgym_env_preview4(task_name="Trifinger")
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=8, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# PPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#models
models = {}
models["policy"] = Shared(env.observation_space, env.action_space, device)
models["value"] = models["policy"] # same instance: shared model
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#configuration-and-hyperparameters
cfg = PPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 8 # memory_size
cfg["learning_epochs"] = 4
cfg["mini_batches"] = 8 # 8 * 16384 / 16384
cfg["discount_factor"] = 0.99
cfg["lambda"] = 0.95
cfg["learning_rate"] = 3e-4
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 0
cfg["grad_norm_clip"] = 1.0
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = True
cfg["entropy_loss_scale"] = 0.0
cfg["value_loss_scale"] = 2.0
cfg["kl_threshold"] = 0.016
cfg["rewards_shaper"] = lambda rewards, timestep, timesteps: rewards * 0.01
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 800
cfg["experiment"]["checkpoint_interval"] = 8000
cfg["experiment"]["directory"] = "runs/torch/Trifinger"
agent = PPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 160000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
| 4,493 | Python | 37.084745 | 101 | 0.669263 |
Toni-SM/skrl/docs/source/examples/isaacgym/jax_humanoid_ppo.py | import isaacgym
import flax.linen as nn
import jax
import jax.numpy as jnp
# import the skrl components to build the RL system
from skrl import config
from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG
from skrl.envs.loaders.jax import load_isaacgym_env_preview4
from skrl.envs.wrappers.jax import wrap_env
from skrl.memories.jax import RandomMemory
from skrl.models.jax import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.jax import RunningStandardScaler
from skrl.resources.schedulers.jax import KLAdaptiveRL
from skrl.trainers.jax import SequentialTrainer
from skrl.utils import set_seed
config.jax.backend = "jax" # or "numpy"
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class Policy(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum", **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.elu(nn.Dense(400)(inputs["states"]))
x = nn.elu(nn.Dense(200)(x))
x = nn.elu(nn.Dense(100)(x))
x = nn.Dense(self.num_actions)(x)
log_std = self.param("log_std", lambda _: jnp.zeros(self.num_actions))
return x, log_std, {}
class Value(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False, **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
DeterministicMixin.__init__(self, clip_actions)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.elu(nn.Dense(400)(inputs["states"]))
x = nn.elu(nn.Dense(200)(x))
x = nn.elu(nn.Dense(100)(x))
x = nn.Dense(1)(x)
return x, {}
# load and wrap the Isaac Gym environment
env = load_isaacgym_env_preview4(task_name="Humanoid")
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=32, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# PPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#models
models = {}
models["policy"] = Policy(env.observation_space, env.action_space, device)
models["value"] = Value(env.observation_space, env.action_space, device)
# instantiate models' state dict
for role, model in models.items():
model.init_state_dict(role)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#configuration-and-hyperparameters
cfg = PPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 32 # memory_size
cfg["learning_epochs"] = 5
cfg["mini_batches"] = 4 # 32 * 4096 / 32768
cfg["discount_factor"] = 0.99
cfg["lambda"] = 0.95
cfg["learning_rate"] = 5e-4
cfg["learning_rate_scheduler"] = KLAdaptiveRL
cfg["learning_rate_scheduler_kwargs"] = {"kl_threshold": 0.008}
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 0
cfg["grad_norm_clip"] = 1.0
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = True
cfg["entropy_loss_scale"] = 0.0
cfg["value_loss_scale"] = 2.0
cfg["kl_threshold"] = 0
cfg["rewards_shaper"] = lambda rewards, timestep, timesteps: rewards * 0.01
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 160
cfg["experiment"]["checkpoint_interval"] = 1600
cfg["experiment"]["directory"] = "runs/jax/Humanoid"
agent = PPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 32000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
# # ---------------------------------------------------------
# # comment the code above: `trainer.train()`, and...
# # uncomment the following lines to evaluate a trained agent
# # ---------------------------------------------------------
# from skrl.utils.huggingface import download_model_from_huggingface
# # download the trained agent's checkpoint from Hugging Face Hub and load it
# path = download_model_from_huggingface("skrl/IsaacGymEnvs-Humanoid-PPO", filename="agent.pickle")
# agent.load(path)
# # start evaluation
# trainer.eval()
| 5,172 | Python | 36.485507 | 101 | 0.690255 |
Toni-SM/skrl/docs/source/examples/isaacgym/torch_shadow_hand_ppo.py | import isaacgym
import torch
import torch.nn as nn
# import the skrl components to build the RL system
from skrl.agents.torch.ppo import PPO, PPO_DEFAULT_CONFIG
from skrl.envs.loaders.torch import load_isaacgym_env_preview4
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.resources.schedulers.torch import KLAdaptiveRL
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define shared model (stochastic and deterministic models) using mixins
class Shared(GaussianMixin, DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum"):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations, 512),
nn.ELU(),
nn.Linear(512, 512),
nn.ELU(),
nn.Linear(512, 256),
nn.ELU(),
nn.Linear(256, 128),
nn.ELU())
self.mean_layer = nn.Linear(128, self.num_actions)
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
self.value_layer = nn.Linear(128, 1)
def act(self, inputs, role):
if role == "policy":
return GaussianMixin.act(self, inputs, role)
elif role == "value":
return DeterministicMixin.act(self, inputs, role)
def compute(self, inputs, role):
if role == "policy":
return self.mean_layer(self.net(inputs["states"])), self.log_std_parameter, {}
elif role == "value":
return self.value_layer(self.net(inputs["states"])), {}
# load and wrap the Isaac Gym environment
env = load_isaacgym_env_preview4(task_name="ShadowHand")
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=8, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# PPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#models
models = {}
models["policy"] = Shared(env.observation_space, env.action_space, device)
models["value"] = models["policy"] # same instance: shared model
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#configuration-and-hyperparameters
cfg = PPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 8 # memory_size
cfg["learning_epochs"] = 5
cfg["mini_batches"] = 4 # 8 * 16384 / 32768
cfg["discount_factor"] = 0.99
cfg["lambda"] = 0.95
cfg["learning_rate"] = 5e-4
cfg["learning_rate_scheduler"] = KLAdaptiveRL
cfg["learning_rate_scheduler_kwargs"] = {"kl_threshold": 0.016}
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 0
cfg["grad_norm_clip"] = 1.0
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = True
cfg["entropy_loss_scale"] = 0.0
cfg["value_loss_scale"] = 2.0
cfg["kl_threshold"] = 0
cfg["rewards_shaper"] = lambda rewards, timestep, timesteps: rewards * 0.01
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 200
cfg["experiment"]["checkpoint_interval"] = 2000
cfg["experiment"]["directory"] = "runs/torch/ShadowHand"
agent = PPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 40000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
| 4,600 | Python | 37.341666 | 101 | 0.67087 |
Toni-SM/skrl/docs/source/examples/isaacgym/torch_franka_cabinet_ppo.py | import isaacgym
import torch
import torch.nn as nn
# import the skrl components to build the RL system
from skrl.agents.torch.ppo import PPO, PPO_DEFAULT_CONFIG
from skrl.envs.loaders.torch import load_isaacgym_env_preview4
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.resources.schedulers.torch import KLAdaptiveRL
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define shared model (stochastic and deterministic models) using mixins
class Shared(GaussianMixin, DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum"):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations, 256),
nn.ELU(),
nn.Linear(256, 128),
nn.ELU(),
nn.Linear(128, 64),
nn.ELU())
self.mean_layer = nn.Linear(64, self.num_actions)
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
self.value_layer = nn.Linear(64, 1)
def act(self, inputs, role):
if role == "policy":
return GaussianMixin.act(self, inputs, role)
elif role == "value":
return DeterministicMixin.act(self, inputs, role)
def compute(self, inputs, role):
if role == "policy":
return self.mean_layer(self.net(inputs["states"])), self.log_std_parameter, {}
elif role == "value":
return self.value_layer(self.net(inputs["states"])), {}
# load and wrap the Isaac Gym environment
env = load_isaacgym_env_preview4(task_name="FrankaCabinet")
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=16, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# PPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#models
models = {}
models["policy"] = Shared(env.observation_space, env.action_space, device)
models["value"] = models["policy"] # same instance: shared model
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#configuration-and-hyperparameters
cfg = PPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 16 # memory_size
cfg["learning_epochs"] = 8
cfg["mini_batches"] = 8 # 16 * 4096 / 8192
cfg["discount_factor"] = 0.99
cfg["lambda"] = 0.95
cfg["learning_rate"] = 5e-4
cfg["learning_rate_scheduler"] = KLAdaptiveRL
cfg["learning_rate_scheduler_kwargs"] = {"kl_threshold": 0.008}
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 0
cfg["grad_norm_clip"] = 1.0
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = True
cfg["entropy_loss_scale"] = 0.0
cfg["value_loss_scale"] = 2.0
cfg["kl_threshold"] = 0
cfg["rewards_shaper"] = lambda rewards, timestep, timesteps: rewards * 0.01
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 120
cfg["experiment"]["checkpoint_interval"] = 1200
cfg["experiment"]["directory"] = "runs/torch/FrankaCabinet"
agent = PPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 24000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
# # ---------------------------------------------------------
# # comment the code above: `trainer.train()`, and...
# # uncomment the following lines to evaluate a trained agent
# # ---------------------------------------------------------
# from skrl.utils.huggingface import download_model_from_huggingface
# # download the trained agent's checkpoint from Hugging Face Hub and load it
# path = download_model_from_huggingface("skrl/IsaacGymEnvs-FrankaCabinet-PPO", filename="agent.pt")
# agent.load(path)
# # start evaluation
# trainer.eval()
| 5,056 | Python | 37.310606 | 101 | 0.670688 |
Toni-SM/skrl/docs/source/examples/isaacgym/jax_quadcopter_ppo.py | import isaacgym
import flax.linen as nn
import jax
import jax.numpy as jnp
# import the skrl components to build the RL system
from skrl import config
from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG
from skrl.envs.loaders.jax import load_isaacgym_env_preview4
from skrl.envs.wrappers.jax import wrap_env
from skrl.memories.jax import RandomMemory
from skrl.models.jax import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.jax import RunningStandardScaler
from skrl.resources.schedulers.jax import KLAdaptiveRL
from skrl.trainers.jax import SequentialTrainer
from skrl.utils import set_seed
config.jax.backend = "jax" # or "numpy"
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class Policy(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum", **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.elu(nn.Dense(256)(inputs["states"]))
x = nn.elu(nn.Dense(256)(x))
x = nn.elu(nn.Dense(128)(x))
x = nn.Dense(self.num_actions)(x)
log_std = self.param("log_std", lambda _: jnp.zeros(self.num_actions))
return x, log_std, {}
class Value(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False, **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
DeterministicMixin.__init__(self, clip_actions)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.elu(nn.Dense(256)(inputs["states"]))
x = nn.elu(nn.Dense(256)(x))
x = nn.elu(nn.Dense(128)(x))
x = nn.Dense(1)(x)
return x, {}
# load and wrap the Isaac Gym environment
env = load_isaacgym_env_preview4(task_name="Quadcopter")
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=8, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# PPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#models
models = {}
models["policy"] = Policy(env.observation_space, env.action_space, device)
models["value"] = Value(env.observation_space, env.action_space, device)
# instantiate models' state dict
for role, model in models.items():
model.init_state_dict(role)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#configuration-and-hyperparameters
cfg = PPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 8 # memory_size
cfg["learning_epochs"] = 8
cfg["mini_batches"] = 4 # 8 * 8192 / 16384
cfg["discount_factor"] = 0.99
cfg["lambda"] = 0.95
cfg["learning_rate"] = 1e-3
cfg["learning_rate_scheduler"] = KLAdaptiveRL
cfg["learning_rate_scheduler_kwargs"] = {"kl_threshold": 0.016}
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 0
cfg["grad_norm_clip"] = 1.0
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = True
cfg["entropy_loss_scale"] = 0.0
cfg["value_loss_scale"] = 1.0
cfg["kl_threshold"] = 0
cfg["rewards_shaper"] = lambda rewards, timestep, timesteps: rewards * 0.1
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 20
cfg["experiment"]["checkpoint_interval"] = 200
cfg["experiment"]["directory"] = "runs/jax/Quadcopter"
agent = PPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 4000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
# # ---------------------------------------------------------
# # comment the code above: `trainer.train()`, and...
# # uncomment the following lines to evaluate a trained agent
# # ---------------------------------------------------------
# from skrl.utils.huggingface import download_model_from_huggingface
# # download the trained agent's checkpoint from Hugging Face Hub and load it
# path = download_model_from_huggingface("skrl/IsaacGymEnvs-Quadcopter-PPO", filename="agent.pickle")
# agent.load(path)
# # start evaluation
# trainer.eval()
| 5,171 | Python | 36.478261 | 101 | 0.690195 |
Toni-SM/skrl/docs/source/examples/isaacgym/jax_anymal_ppo.py | import isaacgym
import flax.linen as nn
import jax
import jax.numpy as jnp
# import the skrl components to build the RL system
from skrl import config
from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG
from skrl.envs.loaders.jax import load_isaacgym_env_preview4
from skrl.envs.wrappers.jax import wrap_env
from skrl.memories.jax import RandomMemory
from skrl.models.jax import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.jax import RunningStandardScaler
from skrl.resources.schedulers.jax import KLAdaptiveRL
from skrl.trainers.jax import SequentialTrainer
from skrl.utils import set_seed
config.jax.backend = "jax" # or "numpy"
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class Policy(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum", **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.elu(nn.Dense(256)(inputs["states"]))
x = nn.elu(nn.Dense(128)(x))
x = nn.elu(nn.Dense(64)(x))
x = nn.Dense(self.num_actions)(x)
log_std = self.param("log_std", lambda _: jnp.zeros(self.num_actions))
return x, log_std, {}
class Value(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False, **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
DeterministicMixin.__init__(self, clip_actions)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.elu(nn.Dense(256)(inputs["states"]))
x = nn.elu(nn.Dense(128)(x))
x = nn.elu(nn.Dense(64)(x))
x = nn.Dense(1)(x)
return x, {}
# load and wrap the Isaac Gym environment
env = load_isaacgym_env_preview4(task_name="Anymal")
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=24, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# PPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#models
models = {}
models["policy"] = Policy(env.observation_space, env.action_space, device)
models["value"] = Value(env.observation_space, env.action_space, device)
# instantiate models' state dict
for role, model in models.items():
model.init_state_dict(role)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#configuration-and-hyperparameters
cfg = PPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 24 # memory_size
cfg["learning_epochs"] = 5
cfg["mini_batches"] = 3 # 24 * 4096 / 32768
cfg["discount_factor"] = 0.99
cfg["lambda"] = 0.95
cfg["learning_rate"] = 3e-4
cfg["learning_rate_scheduler"] = KLAdaptiveRL
cfg["learning_rate_scheduler_kwargs"] = {"kl_threshold": 0.008}
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 0
cfg["grad_norm_clip"] = 1.0
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = True
cfg["entropy_loss_scale"] = 0.0
cfg["value_loss_scale"] = 1.0
cfg["kl_threshold"] = 0
cfg["rewards_shaper"] = None
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 120
cfg["experiment"]["checkpoint_interval"] = 1200
cfg["experiment"]["directory"] = "runs/jax/Anymal"
agent = PPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 24000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
# # ---------------------------------------------------------
# # comment the code above: `trainer.train()`, and...
# # uncomment the following lines to evaluate a trained agent
# # ---------------------------------------------------------
# from skrl.utils.huggingface import download_model_from_huggingface
# # download the trained agent's checkpoint from Hugging Face Hub and load it
# path = download_model_from_huggingface("skrl/IsaacGymEnvs-Anymal-PPO", filename="agent.pickle")
# agent.load(path)
# # start evaluation
# trainer.eval()
| 5,117 | Python | 36.086956 | 101 | 0.689076 |
Toni-SM/skrl/docs/source/examples/isaacgym/torch_ball_balance_ppo.py | import isaacgym
import torch
import torch.nn as nn
# import the skrl components to build the RL system
from skrl.agents.torch.ppo import PPO, PPO_DEFAULT_CONFIG
from skrl.envs.loaders.torch import load_isaacgym_env_preview4
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.resources.schedulers.torch import KLAdaptiveRL
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define shared model (stochastic and deterministic models) using mixins
class Shared(GaussianMixin, DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum"):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations, 128),
nn.ELU(),
nn.Linear(128, 64),
nn.ELU(),
nn.Linear(64, 32),
nn.ELU())
self.mean_layer = nn.Linear(32, self.num_actions)
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
self.value_layer = nn.Linear(32, 1)
def act(self, inputs, role):
if role == "policy":
return GaussianMixin.act(self, inputs, role)
elif role == "value":
return DeterministicMixin.act(self, inputs, role)
def compute(self, inputs, role):
if role == "policy":
return self.mean_layer(self.net(inputs["states"])), self.log_std_parameter, {}
elif role == "value":
return self.value_layer(self.net(inputs["states"])), {}
# load and wrap the Isaac Gym environment
env = load_isaacgym_env_preview4(task_name="BallBalance")
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=16, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# PPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#models
models = {}
models["policy"] = Shared(env.observation_space, env.action_space, device)
models["value"] = models["policy"] # same instance: shared model
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#configuration-and-hyperparameters
cfg = PPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 16 # memory_size
cfg["learning_epochs"] = 8
cfg["mini_batches"] = 8 # 16 * 4096 / 8192
cfg["discount_factor"] = 0.99
cfg["lambda"] = 0.95
cfg["learning_rate"] = 3e-4
cfg["learning_rate_scheduler"] = KLAdaptiveRL
cfg["learning_rate_scheduler_kwargs"] = {"kl_threshold": 0.008}
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 0
cfg["grad_norm_clip"] = 1.0
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = True
cfg["entropy_loss_scale"] = 0.0
cfg["value_loss_scale"] = 2.0
cfg["kl_threshold"] = 0
cfg["rewards_shaper"] = lambda rewards, timestep, timesteps: rewards * 0.1
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 20
cfg["experiment"]["checkpoint_interval"] = 200
cfg["experiment"]["directory"] = "runs/torch/BallBalance"
agent = PPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 4000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
# # ---------------------------------------------------------
# # comment the code above: `trainer.train()`, and...
# # uncomment the following lines to evaluate a trained agent
# # ---------------------------------------------------------
# from skrl.utils.huggingface import download_model_from_huggingface
# # download the trained agent's checkpoint from Hugging Face Hub and load it
# path = download_model_from_huggingface("skrl/IsaacGymEnvs-BallBalance-PPO", filename="agent.pt")
# agent.load(path)
# # start evaluation
# trainer.eval()
| 5,044 | Python | 37.219697 | 101 | 0.669905 |
Toni-SM/skrl/docs/source/examples/isaacgym/jax_franka_cabinet_ppo.py | import isaacgym
import flax.linen as nn
import jax
import jax.numpy as jnp
# import the skrl components to build the RL system
from skrl import config
from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG
from skrl.envs.loaders.jax import load_isaacgym_env_preview4
from skrl.envs.wrappers.jax import wrap_env
from skrl.memories.jax import RandomMemory
from skrl.models.jax import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.jax import RunningStandardScaler
from skrl.resources.schedulers.jax import KLAdaptiveRL
from skrl.trainers.jax import SequentialTrainer
from skrl.utils import set_seed
config.jax.backend = "jax" # or "numpy"
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class Policy(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum", **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.elu(nn.Dense(256)(inputs["states"]))
x = nn.elu(nn.Dense(128)(x))
x = nn.elu(nn.Dense(64)(x))
x = nn.Dense(self.num_actions)(x)
log_std = self.param("log_std", lambda _: jnp.zeros(self.num_actions))
return x, log_std, {}
class Value(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False, **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
DeterministicMixin.__init__(self, clip_actions)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.elu(nn.Dense(256)(inputs["states"]))
x = nn.elu(nn.Dense(128)(x))
x = nn.elu(nn.Dense(64)(x))
x = nn.Dense(1)(x)
return x, {}
# load and wrap the Isaac Gym environment
env = load_isaacgym_env_preview4(task_name="FrankaCabinet")
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=16, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# PPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#models
models = {}
models["policy"] = Policy(env.observation_space, env.action_space, device)
models["value"] = Value(env.observation_space, env.action_space, device)
# instantiate models' state dict
for role, model in models.items():
model.init_state_dict(role)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#configuration-and-hyperparameters
cfg = PPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 16 # memory_size
cfg["learning_epochs"] = 8
cfg["mini_batches"] = 8 # 16 * 4096 / 8192
cfg["discount_factor"] = 0.99
cfg["lambda"] = 0.95
cfg["learning_rate"] = 5e-4
cfg["learning_rate_scheduler"] = KLAdaptiveRL
cfg["learning_rate_scheduler_kwargs"] = {"kl_threshold": 0.008}
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 0
cfg["grad_norm_clip"] = 1.0
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = True
cfg["entropy_loss_scale"] = 0.0
cfg["value_loss_scale"] = 2.0
cfg["kl_threshold"] = 0
cfg["rewards_shaper"] = lambda rewards, timestep, timesteps: rewards * 0.01
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 120
cfg["experiment"]["checkpoint_interval"] = 1200
cfg["experiment"]["directory"] = "runs/jax/FrankaCabinet"
agent = PPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 24000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
# # ---------------------------------------------------------
# # comment the code above: `trainer.train()`, and...
# # uncomment the following lines to evaluate a trained agent
# # ---------------------------------------------------------
# from skrl.utils.huggingface import download_model_from_huggingface
# # download the trained agent's checkpoint from Hugging Face Hub and load it
# path = download_model_from_huggingface("skrl/IsaacGymEnvs-FrankaCabinet-PPO", filename="agent.pickle")
# agent.load(path)
# # start evaluation
# trainer.eval()
| 5,184 | Python | 36.572464 | 104 | 0.690972 |
Toni-SM/skrl/docs/source/examples/isaacgym/torch_ant_ddpg.py | import isaacgym
import torch
import torch.nn as nn
# import the skrl components to build the RL system
from skrl.agents.torch.ddpg import DDPG, DDPG_DEFAULT_CONFIG
from skrl.envs.loaders.torch import load_isaacgym_env_preview4
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, Model
from skrl.resources.noises.torch import OrnsteinUhlenbeckNoise
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (deterministic models) using mixins
class DeterministicActor(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations, 512),
nn.ReLU(),
nn.Linear(512, 256),
nn.ReLU(),
nn.Linear(256, self.num_actions),
nn.Tanh())
def compute(self, inputs, role):
return self.net(inputs["states"]), {}
class Critic(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations + self.num_actions, 512),
nn.ReLU(),
nn.Linear(512, 256),
nn.ReLU(),
nn.Linear(256, 1))
def compute(self, inputs, role):
return self.net(torch.cat([inputs["states"], inputs["taken_actions"]], dim=1)), {}
# load and wrap the Isaac Gym environment
env = load_isaacgym_env_preview4(task_name="Ant", num_envs=64)
env = wrap_env(env)
device = env.device
# instantiate a memory as experience replay
memory = RandomMemory(memory_size=15625, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# DDPG requires 4 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ddpg.html#models
models = {}
models["policy"] = DeterministicActor(env.observation_space, env.action_space, device)
models["target_policy"] = DeterministicActor(env.observation_space, env.action_space, device)
models["critic"] = Critic(env.observation_space, env.action_space, device)
models["target_critic"] = Critic(env.observation_space, env.action_space, device)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ddpg.html#configuration-and-hyperparameters
cfg = DDPG_DEFAULT_CONFIG.copy()
cfg["exploration"]["noise"] = OrnsteinUhlenbeckNoise(theta=0.15, sigma=0.1, base_scale=0.5, device=device)
cfg["gradient_steps"] = 1
cfg["batch_size"] = 4096
cfg["discount_factor"] = 0.99
cfg["polyak"] = 0.005
cfg["actor_learning_rate"] = 5e-4
cfg["critic_learning_rate"] = 5e-4
cfg["random_timesteps"] = 80
cfg["learning_starts"] = 80
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 800
cfg["experiment"]["checkpoint_interval"] = 8000
cfg["experiment"]["directory"] = "runs/torch/Ant"
agent = DDPG(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 160000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
| 4,179 | Python | 38.06542 | 106 | 0.67911 |
Toni-SM/skrl/docs/source/examples/isaacgym/torch_allegro_kuka_ppo.py | import isaacgym
import isaacgymenvs
import torch
import torch.nn as nn
# import the skrl components to build the RL system
from skrl.agents.torch.ppo import PPO, PPO_DEFAULT_CONFIG
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.resources.schedulers.torch import KLAdaptiveRL
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
seed = set_seed() # e.g. `set_seed(42)` for fixed seed
# define shared model (stochastic and deterministic models) using mixins
class Shared(GaussianMixin, DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum"):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations, 1024),
nn.ELU(),
nn.Linear(1024, 1024),
nn.ELU(),
nn.Linear(1024, 512),
nn.ELU(),
nn.Linear(512, 512),
nn.ELU())
self.mean_layer = nn.Linear(512, self.num_actions)
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
self.value_layer = nn.Linear(512, 1)
def act(self, inputs, role):
if role == "policy":
return GaussianMixin.act(self, inputs, role)
elif role == "value":
return DeterministicMixin.act(self, inputs, role)
def compute(self, inputs, role):
if role == "policy":
return self.mean_layer(self.net(inputs["states"])), self.log_std_parameter, {}
elif role == "value":
return self.value_layer(self.net(inputs["states"])), {}
# load and wrap the Isaac Gym environment using the easy-to-use API from NVIDIA
env = isaacgymenvs.make(seed=seed,
task="AllegroKuka",
num_envs=8192,
sim_device="cuda:0",
rl_device="cuda:0",
graphics_device_id=0,
headless=True)
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=16, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# PPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#models
models = {}
models["policy"] = Shared(env.observation_space, env.action_space, device)
models["value"] = models["policy"] # same instance: shared model
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#configuration-and-hyperparameters
cfg = PPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 16 # memory_size
cfg["learning_epochs"] = 4
cfg["mini_batches"] = 4 # 16 * 8192 / 32768
cfg["discount_factor"] = 0.99
cfg["lambda"] = 0.95
cfg["learning_rate"] = 1e-4
cfg["learning_rate_scheduler"] = KLAdaptiveRL
cfg["learning_rate_scheduler_kwargs"] = {"kl_threshold": 0.016}
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 0
cfg["grad_norm_clip"] = 1.0
cfg["ratio_clip"] = 0.1
cfg["value_clip"] = 0.1
cfg["clip_predicted_values"] = True
cfg["entropy_loss_scale"] = 0.0
cfg["value_loss_scale"] = 2.0
cfg["kl_threshold"] = 0
cfg["rewards_shaper"] = lambda rewards, timestep, timesteps: rewards * 0.01
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 200
cfg["experiment"]["checkpoint_interval"] = 2000
cfg["experiment"]["directory"] = "runs/torch/AllegroKuka"
agent = PPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 1600000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
| 4,846 | Python | 37.468254 | 101 | 0.651878 |
Toni-SM/skrl/docs/source/examples/isaacgym/jax_factory_task_nut_bolt_screw_ppo.py | import isaacgym
import flax.linen as nn
import jax
import jax.numpy as jnp
# import the skrl components to build the RL system
from skrl import config
from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG
from skrl.envs.loaders.jax import load_isaacgym_env_preview4
from skrl.envs.wrappers.jax import wrap_env
from skrl.memories.jax import RandomMemory
from skrl.models.jax import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.jax import RunningStandardScaler
from skrl.trainers.jax import SequentialTrainer
from skrl.utils import set_seed
config.jax.backend = "jax" # or "numpy"
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class Policy(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum", **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.elu(nn.Dense(256)(inputs["states"]))
x = nn.elu(nn.Dense(128)(x))
x = nn.elu(nn.Dense(64)(x))
x = nn.Dense(self.num_actions)(x)
log_std = self.param("log_std", lambda _: jnp.zeros(self.num_actions))
return x, log_std, {}
class Value(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False, **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
DeterministicMixin.__init__(self, clip_actions)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.elu(nn.Dense(256)(inputs["states"]))
x = nn.elu(nn.Dense(128)(x))
x = nn.elu(nn.Dense(64)(x))
x = nn.Dense(1)(x)
return x, {}
# load and wrap the Isaac Gym environment
env = load_isaacgym_env_preview4(task_name="FactoryTaskNutBoltScrew")
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=128, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# PPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#models
models = {}
models["policy"] = Policy(env.observation_space, env.action_space, device)
models["value"] = Value(env.observation_space, env.action_space, device)
# instantiate models' state dict
for role, model in models.items():
model.init_state_dict(role)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#configuration-and-hyperparameters
cfg = PPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 128 # memory_size
cfg["learning_epochs"] = 8
cfg["mini_batches"] = 32 # 128 * 128 / 512
cfg["discount_factor"] = 0.99
cfg["lambda"] = 0.95
cfg["learning_rate"] = 1e-4
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 0
cfg["grad_norm_clip"] = 0
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = True
cfg["entropy_loss_scale"] = 0.0
cfg["value_loss_scale"] = 1.0
cfg["kl_threshold"] = 0.016
cfg["rewards_shaper"] = None
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 614
cfg["experiment"]["checkpoint_interval"] = 6144
cfg["experiment"]["directory"] = "runs/jax/FactoryTaskNutBoltScrew"
agent = PPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 122880, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
# # ---------------------------------------------------------
# # comment the code above: `trainer.train()`, and...
# # uncomment the following lines to evaluate a trained agent
# # ---------------------------------------------------------
# from skrl.utils.huggingface import download_model_from_huggingface
# # download the trained agent's checkpoint from Hugging Face Hub and load it
# path = download_model_from_huggingface("skrl/IsaacGymEnvs-FactoryTaskNutBoltScrew-PPO", filename="agent.pickle")
# agent.load(path)
# # start evaluation
# trainer.eval()
| 5,007 | Python | 36.096296 | 114 | 0.689435 |
Toni-SM/skrl/docs/source/examples/isaacgym/jax_ant_ppo.py | import isaacgym
import flax.linen as nn
import jax
import jax.numpy as jnp
# import the skrl components to build the RL system
from skrl import config
from skrl.agents.jax.ppo import PPO, PPO_DEFAULT_CONFIG
from skrl.envs.loaders.jax import load_isaacgym_env_preview4
from skrl.envs.wrappers.jax import wrap_env
from skrl.memories.jax import RandomMemory
from skrl.models.jax import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.jax import RunningStandardScaler
from skrl.resources.schedulers.jax import KLAdaptiveRL
from skrl.trainers.jax import SequentialTrainer
from skrl.utils import set_seed
config.jax.backend = "jax" # or "numpy"
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class Policy(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum", **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.elu(nn.Dense(256)(inputs["states"]))
x = nn.elu(nn.Dense(128)(x))
x = nn.elu(nn.Dense(64)(x))
x = nn.Dense(self.num_actions)(x)
log_std = self.param("log_std", lambda _: jnp.zeros(self.num_actions))
return x, log_std, {}
class Value(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False, **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
DeterministicMixin.__init__(self, clip_actions)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = nn.elu(nn.Dense(256)(inputs["states"]))
x = nn.elu(nn.Dense(128)(x))
x = nn.elu(nn.Dense(64)(x))
x = nn.Dense(1)(x)
return x, {}
# load and wrap the Isaac Gym environment
env = load_isaacgym_env_preview4(task_name="Ant")
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=16, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# PPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#models
models = {}
models["policy"] = Policy(env.observation_space, env.action_space, device)
models["value"] = Value(env.observation_space, env.action_space, device)
# instantiate models' state dict
for role, model in models.items():
model.init_state_dict(role)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#configuration-and-hyperparameters
cfg = PPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 16 # memory_size
cfg["learning_epochs"] = 4
cfg["mini_batches"] = 2 # 16 * 4096 / 32768
cfg["discount_factor"] = 0.99
cfg["lambda"] = 0.95
cfg["learning_rate"] = 3e-4
cfg["learning_rate_scheduler"] = KLAdaptiveRL
cfg["learning_rate_scheduler_kwargs"] = {"kl_threshold": 0.008}
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 0
cfg["grad_norm_clip"] = 0
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = True
cfg["entropy_loss_scale"] = 0.0
cfg["value_loss_scale"] = 1.0
cfg["kl_threshold"] = 0
cfg["rewards_shaper"] = lambda rewards, timestep, timesteps: rewards * 0.01
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 40
cfg["experiment"]["checkpoint_interval"] = 400
cfg["experiment"]["directory"] = "runs/jax/Ant"
agent = PPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 8000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
# # ---------------------------------------------------------
# # comment the code above: `trainer.train()`, and...
# # uncomment the following lines to evaluate a trained agent
# # ---------------------------------------------------------
# from skrl.utils.huggingface import download_model_from_huggingface
# # download the trained agent's checkpoint from Hugging Face Hub and load it
# path = download_model_from_huggingface("skrl/IsaacGymEnvs-Ant-PPO", filename="agent.pickle")
# agent.load(path)
# # start evaluation
# trainer.eval()
| 5,150 | Python | 36.326087 | 101 | 0.689126 |
Toni-SM/skrl/docs/source/examples/isaacgym/torch_anymal_ppo.py | import isaacgym
import torch
import torch.nn as nn
# import the skrl components to build the RL system
from skrl.agents.torch.ppo import PPO, PPO_DEFAULT_CONFIG
from skrl.envs.loaders.torch import load_isaacgym_env_preview4
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.resources.schedulers.torch import KLAdaptiveRL
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define shared model (stochastic and deterministic models) using mixins
class Shared(GaussianMixin, DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum"):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations, 256),
nn.ELU(),
nn.Linear(256, 128),
nn.ELU(),
nn.Linear(128, 64),
nn.ELU())
self.mean_layer = nn.Linear(64, self.num_actions)
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
self.value_layer = nn.Linear(64, 1)
def act(self, inputs, role):
if role == "policy":
return GaussianMixin.act(self, inputs, role)
elif role == "value":
return DeterministicMixin.act(self, inputs, role)
def compute(self, inputs, role):
if role == "policy":
return self.mean_layer(self.net(inputs["states"])), self.log_std_parameter, {}
elif role == "value":
return self.value_layer(self.net(inputs["states"])), {}
# load and wrap the Isaac Gym environment
env = load_isaacgym_env_preview4(task_name="Anymal")
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=24, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# PPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#models
models = {}
models["policy"] = Shared(env.observation_space, env.action_space, device)
models["value"] = models["policy"] # same instance: shared model
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ppo.html#configuration-and-hyperparameters
cfg = PPO_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 24 # memory_size
cfg["learning_epochs"] = 5
cfg["mini_batches"] = 3 # 24 * 4096 / 32768
cfg["discount_factor"] = 0.99
cfg["lambda"] = 0.95
cfg["learning_rate"] = 3e-4
cfg["learning_rate_scheduler"] = KLAdaptiveRL
cfg["learning_rate_scheduler_kwargs"] = {"kl_threshold": 0.008}
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 0
cfg["grad_norm_clip"] = 1.0
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = True
cfg["entropy_loss_scale"] = 0.0
cfg["value_loss_scale"] = 1.0
cfg["kl_threshold"] = 0
cfg["rewards_shaper"] = None
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 120
cfg["experiment"]["checkpoint_interval"] = 1200
cfg["experiment"]["directory"] = "runs/torch/Anymal"
agent = PPO(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 24000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
# # ---------------------------------------------------------
# # comment the code above: `trainer.train()`, and...
# # uncomment the following lines to evaluate a trained agent
# # ---------------------------------------------------------
# from skrl.utils.huggingface import download_model_from_huggingface
# # download the trained agent's checkpoint from Hugging Face Hub and load it
# path = download_model_from_huggingface("skrl/IsaacGymEnvs-Anymal-PPO", filename="agent.pt")
# agent.load(path)
# # start evaluation
# trainer.eval()
| 4,989 | Python | 36.80303 | 101 | 0.668471 |
Toni-SM/skrl/docs/source/examples/isaacgym/torch_ant_ddpg_td3_sac_sequential_unshared_memory.py | import isaacgym
import torch
import torch.nn as nn
# import the skrl components to build the RL system
from skrl.agents.torch.ddpg import DDPG, DDPG_DEFAULT_CONFIG
from skrl.agents.torch.sac import SAC, SAC_DEFAULT_CONFIG
from skrl.agents.torch.td3 import TD3, TD3_DEFAULT_CONFIG
from skrl.envs.loaders.torch import load_isaacgym_env_preview4
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
from skrl.resources.noises.torch import GaussianNoise, OrnsteinUhlenbeckNoise
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
class StochasticActor(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-5, max_log_std=2):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std)
self.net = nn.Sequential(nn.Linear(self.num_observations, 512),
nn.ReLU(),
nn.Linear(512, 256),
nn.ReLU(),
nn.Linear(256, self.num_actions),
nn.Tanh())
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
def compute(self, inputs, role):
return self.net(inputs["states"]), self.log_std_parameter, {}
class DeterministicActor(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations, 512),
nn.ReLU(),
nn.Linear(512, 256),
nn.ReLU(),
nn.Linear(256, self.num_actions),
nn.Tanh())
def compute(self, inputs, role):
return self.net(inputs["states"]), {}
class Critic(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations + self.num_actions, 512),
nn.ReLU(),
nn.Linear(512, 256),
nn.ReLU(),
nn.Linear(256, 1))
def compute(self, inputs, role):
return self.net(torch.cat([inputs["states"], inputs["taken_actions"]], dim=1)), {}
# load and wrap the Isaac Gym environment
env = load_isaacgym_env_preview4(task_name="Ant", num_envs=192)
env = wrap_env(env)
device = env.device
# instantiate memories as experience replay (unique for each agents).
# scopes (192 envs): DDPG 64, TD3 64 and SAC 64
memory_ddpg = RandomMemory(memory_size=15625, num_envs=64, device=device)
memory_td3 = RandomMemory(memory_size=15625, num_envs=64, device=device)
memory_sac = RandomMemory(memory_size=15625, num_envs=64, device=device)
# instantiate the agents' models (function approximators).
# DDPG requires 4 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/ddpg.html#models
models_ddpg = {}
models_ddpg["policy"] = DeterministicActor(env.observation_space, env.action_space, device)
models_ddpg["target_policy"] = DeterministicActor(env.observation_space, env.action_space, device)
models_ddpg["critic"] = Critic(env.observation_space, env.action_space, device)
models_ddpg["target_critic"] = Critic(env.observation_space, env.action_space, device)
# TD3 requires 6 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/td3.html#models
models_td3 = {}
models_td3["policy"] = DeterministicActor(env.observation_space, env.action_space, device)
models_td3["target_policy"] = DeterministicActor(env.observation_space, env.action_space, device)
models_td3["critic_1"] = Critic(env.observation_space, env.action_space, device)
models_td3["critic_2"] = Critic(env.observation_space, env.action_space, device)
models_td3["target_critic_1"] = Critic(env.observation_space, env.action_space, device)
models_td3["target_critic_2"] = Critic(env.observation_space, env.action_space, device)
# SAC requires 5 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/sac.html#models
models_sac = {}
models_sac["policy"] = StochasticActor(env.observation_space, env.action_space, device, clip_actions=True)
models_sac["critic_1"] = Critic(env.observation_space, env.action_space, device)
models_sac["critic_2"] = Critic(env.observation_space, env.action_space, device)
models_sac["target_critic_1"] = Critic(env.observation_space, env.action_space, device)
models_sac["target_critic_2"] = Critic(env.observation_space, env.action_space, device)
# configure and instantiate the agents (visit their documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/ddpg.html#configuration-and-hyperparameters
cfg_ddpg = DDPG_DEFAULT_CONFIG.copy()
cfg_ddpg["exploration"]["noise"] = OrnsteinUhlenbeckNoise(theta=0.15, sigma=0.1, base_scale=0.5, device=device)
cfg_ddpg["gradient_steps"] = 1
cfg_ddpg["batch_size"] = 4096
cfg_ddpg["discount_factor"] = 0.99
cfg_ddpg["polyak"] = 0.005
cfg_ddpg["actor_learning_rate"] = 5e-4
cfg_ddpg["critic_learning_rate"] = 5e-4
cfg_ddpg["random_timesteps"] = 80
cfg_ddpg["learning_starts"] = 80
cfg_ddpg["state_preprocessor"] = RunningStandardScaler
cfg_ddpg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg_ddpg["experiment"]["write_interval"] = 800
cfg_ddpg["experiment"]["checkpoint_interval"] = 8000
cfg_ddpg["experiment"]["directory"] = "runs/torch/Ant"
# https://skrl.readthedocs.io/en/latest/api/agents/td3.html#configuration-and-hyperparameters
cfg_td3 = TD3_DEFAULT_CONFIG.copy()
cfg_td3["exploration"]["noise"] = GaussianNoise(0, 0.1, device=device)
cfg_td3["smooth_regularization_noise"] = GaussianNoise(0, 0.2, device=device)
cfg_td3["smooth_regularization_clip"] = 0.5
cfg_td3["gradient_steps"] = 1
cfg_td3["batch_size"] = 4096
cfg_td3["discount_factor"] = 0.99
cfg_td3["polyak"] = 0.005
cfg_td3["actor_learning_rate"] = 5e-4
cfg_td3["critic_learning_rate"] = 5e-4
cfg_td3["random_timesteps"] = 80
cfg_td3["learning_starts"] = 80
cfg_td3["state_preprocessor"] = RunningStandardScaler
cfg_td3["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg_td3["experiment"]["write_interval"] = 800
cfg_td3["experiment"]["checkpoint_interval"] = 8000
cfg_td3["experiment"]["directory"] = "runs/torch/Ant"
# https://skrl.readthedocs.io/en/latest/api/agents/sac.html#configuration-and-hyperparameters
cfg_sac = SAC_DEFAULT_CONFIG.copy()
cfg_sac["gradient_steps"] = 1
cfg_sac["batch_size"] = 4096
cfg_sac["discount_factor"] = 0.99
cfg_sac["polyak"] = 0.005
cfg_sac["actor_learning_rate"] = 5e-4
cfg_sac["critic_learning_rate"] = 5e-4
cfg_sac["random_timesteps"] = 80
cfg_sac["learning_starts"] = 80
cfg_sac["grad_norm_clip"] = 0
cfg_sac["learn_entropy"] = True
cfg_sac["entropy_learning_rate"] = 5e-3
cfg_sac["initial_entropy_value"] = 1.0
cfg_sac["state_preprocessor"] = RunningStandardScaler
cfg_sac["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg_sac["experiment"]["write_interval"] = 800
cfg_sac["experiment"]["checkpoint_interval"] = 8000
cfg_sac["experiment"]["directory"] = "runs/torch/Ant"
agent_ddpg = DDPG(models=models_ddpg,
memory=memory_ddpg,
cfg=cfg_ddpg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
agent_td3 = TD3(models=models_td3,
memory=memory_td3,
cfg=cfg_td3,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
agent_sac = SAC(models=models_sac,
memory=memory_sac,
cfg=cfg_sac,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer and define the agent scopes
cfg_trainer = {"timesteps": 160000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer,
env=env,
agents=[agent_ddpg, agent_td3, agent_sac],
agents_scope=[64, 64, 64]) # scopes (192 envs): DDPG 64, TD3 64 and SAC 64
# start training
trainer.train()
| 9,365 | Python | 44.466019 | 111 | 0.676348 |
Toni-SM/skrl/docs/source/examples/isaacgym/jax_ant_td3.py | import isaacgym
import flax.linen as nn
import jax
import jax.numpy as jnp
# import the skrl components to build the RL system
from skrl import config
from skrl.agents.jax.td3 import TD3, TD3_DEFAULT_CONFIG
from skrl.envs.loaders.jax import load_isaacgym_env_preview4
from skrl.envs.wrappers.jax import wrap_env
from skrl.memories.jax import RandomMemory
from skrl.models.jax import DeterministicMixin, Model
from skrl.resources.noises.jax import GaussianNoise
from skrl.resources.preprocessors.jax import RunningStandardScaler
from skrl.trainers.jax import SequentialTrainer
from skrl.utils import set_seed
config.jax.backend = "jax" # or "numpy"
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (deterministic models) using mixins
class DeterministicActor(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False, **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
DeterministicMixin.__init__(self, clip_actions)
@nn.compact
def __call__(self, inputs, role):
x = nn.relu(nn.Dense(512)(inputs["states"]))
x = nn.relu(nn.Dense(256)(x))
x = nn.Dense(self.num_actions)(x)
return nn.tanh(x), {}
class Critic(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device=None, clip_actions=False, **kwargs):
Model.__init__(self, observation_space, action_space, device, **kwargs)
DeterministicMixin.__init__(self, clip_actions)
@nn.compact # marks the given module method allowing inlined submodules
def __call__(self, inputs, role):
x = jnp.concatenate([inputs["states"], inputs["taken_actions"]], axis=-1)
x = nn.relu(nn.Dense(512)(x))
x = nn.relu(nn.Dense(256)(x))
x = nn.Dense(1)(x)
return x, {}
# load and wrap the Isaac Gym environment
env = load_isaacgym_env_preview4(task_name="Ant", num_envs=64)
env = wrap_env(env)
device = env.device
# instantiate a memory as experience replay
memory = RandomMemory(memory_size=15625, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# TD3 requires 6 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/td3.html#models
models = {}
models["policy"] = DeterministicActor(env.observation_space, env.action_space, device)
models["target_policy"] = DeterministicActor(env.observation_space, env.action_space, device)
models["critic_1"] = Critic(env.observation_space, env.action_space, device)
models["critic_2"] = Critic(env.observation_space, env.action_space, device)
models["target_critic_1"] = Critic(env.observation_space, env.action_space, device)
models["target_critic_2"] = Critic(env.observation_space, env.action_space, device)
# instantiate models' state dict
for role, model in models.items():
model.init_state_dict(role)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/td3.html#configuration-and-hyperparameters
cfg = TD3_DEFAULT_CONFIG.copy()
cfg["exploration"]["noise"] = GaussianNoise(0, 0.1, device=device)
cfg["smooth_regularization_noise"] = GaussianNoise(0, 0.1, device=device)
cfg["smooth_regularization_clip"] = 0.5
cfg["gradient_steps"] = 1
cfg["batch_size"] = 4096
cfg["discount_factor"] = 0.99
cfg["polyak"] = 0.005
cfg["actor_learning_rate"] = 5e-4
cfg["critic_learning_rate"] = 5e-4
cfg["random_timesteps"] = 80
cfg["learning_starts"] = 80
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 800
cfg["experiment"]["checkpoint_interval"] = 8000
cfg["experiment"]["directory"] = "runs/jax/Ant"
agent = TD3(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 160000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
| 4,335 | Python | 36.37931 | 99 | 0.717647 |
Toni-SM/skrl/docs/source/examples/isaacgym/torch_humanoid_amp.py | import isaacgym
import torch
import torch.nn as nn
# import the skrl components to build the RL system
from skrl.agents.torch.amp import AMP, AMP_DEFAULT_CONFIG
from skrl.envs.loaders.torch import load_isaacgym_env_preview4
from skrl.envs.wrappers.torch import wrap_env
from skrl.memories.torch import RandomMemory
from skrl.models.torch import DeterministicMixin, GaussianMixin, Model
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.trainers.torch import SequentialTrainer
from skrl.utils import set_seed
# seed for reproducibility
set_seed() # e.g. `set_seed(42)` for fixed seed
# define models (stochastic and deterministic models) using mixins
# - Policy: takes as input the environment's observation/state and returns an action
# - Value: takes the state as input and provides a value to guide the policy
# - Discriminator: differentiate between police-generated behaviors and behaviors from the motion dataset
class Policy(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std)
self.net = nn.Sequential(nn.Linear(self.num_observations, 1024),
nn.ReLU(),
nn.Linear(1024, 512),
nn.ReLU(),
nn.Linear(512, self.num_actions))
# set a fixed log standard deviation for the policy
self.log_std_parameter = nn.Parameter(torch.full((self.num_actions,), fill_value=-2.9), requires_grad=False)
def compute(self, inputs, role):
return torch.tanh(self.net(inputs["states"])), self.log_std_parameter, {}
class Value(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations, 1024),
nn.ReLU(),
nn.Linear(1024, 512),
nn.ReLU(),
nn.Linear(512, 1))
def compute(self, inputs, role):
return self.net(inputs["states"]), {}
class Discriminator(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations, 1024),
nn.ReLU(),
nn.Linear(1024, 512),
nn.ReLU(),
nn.Linear(512, 1))
def compute(self, inputs, role):
return self.net(inputs["states"]), {}
# load and wrap the Isaac Gym environment
env = load_isaacgym_env_preview4(task_name="HumanoidAMP")
env = wrap_env(env)
device = env.device
# instantiate a memory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=16, num_envs=env.num_envs, device=device)
# instantiate the agent's models (function approximators).
# AMP requires 3 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/api/agents/amp.html#models
models = {}
models["policy"] = Policy(env.observation_space, env.action_space, device)
models["value"] = Value(env.observation_space, env.action_space, device)
models["discriminator"] = Discriminator(env.amp_observation_space, env.action_space, device)
# configure and instantiate the agent (visit its documentation to see all the options)
# https://skrl.readthedocs.io/en/latest/api/agents/amp.html#configuration-and-hyperparameters
cfg = AMP_DEFAULT_CONFIG.copy()
cfg["rollouts"] = 16 # memory_size
cfg["learning_epochs"] = 6
cfg["mini_batches"] = 2 # 16 * 4096 / 32768
cfg["discount_factor"] = 0.99
cfg["lambda"] = 0.95
cfg["learning_rate"] = 5e-5
cfg["random_timesteps"] = 0
cfg["learning_starts"] = 0
cfg["grad_norm_clip"] = 0
cfg["ratio_clip"] = 0.2
cfg["value_clip"] = 0.2
cfg["clip_predicted_values"] = False
cfg["entropy_loss_scale"] = 0.0
cfg["value_loss_scale"] = 2.5
cfg["discriminator_loss_scale"] = 5.0
cfg["amp_batch_size"] = 512
cfg["task_reward_weight"] = 0.0
cfg["style_reward_weight"] = 1.0
cfg["discriminator_batch_size"] = 4096
cfg["discriminator_reward_scale"] = 2
cfg["discriminator_logit_regularization_scale"] = 0.05
cfg["discriminator_gradient_penalty_scale"] = 5
cfg["discriminator_weight_decay_scale"] = 0.0001
cfg["state_preprocessor"] = RunningStandardScaler
cfg["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg["value_preprocessor"] = RunningStandardScaler
cfg["value_preprocessor_kwargs"] = {"size": 1, "device": device}
cfg["amp_state_preprocessor"] = RunningStandardScaler
cfg["amp_state_preprocessor_kwargs"] = {"size": env.amp_observation_space, "device": device}
# logging to TensorBoard and write checkpoints (in timesteps)
cfg["experiment"]["write_interval"] = 160
cfg["experiment"]["checkpoint_interval"] = 4000
cfg["experiment"]["directory"] = "runs/torch/HumanoidAMP"
agent = AMP(models=models,
memory=memory,
cfg=cfg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device,
amp_observation_space=env.amp_observation_space,
motion_dataset=RandomMemory(memory_size=200000, device=device),
reply_buffer=RandomMemory(memory_size=1000000, device=device),
collect_reference_motions=lambda num_samples: env.fetch_amp_obs_demo(num_samples),
collect_observation=lambda: env.reset_done()[0]["obs"])
# configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 80000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
| 6,218 | Python | 41.02027 | 116 | 0.670794 |
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