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68 lines
2.9 KiB
Python
68 lines
2.9 KiB
Python
from rl_coach.agents.ppo_agent import PPOAgentParameters
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from rl_coach.architectures.tensorflow_components.architecture import Dense
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from rl_coach.base_parameters import VisualizationParameters, PresetValidationParameters
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from rl_coach.environments.environment import MaxDumpMethod, SelectedPhaseOnlyDumpMethod, SingleLevelSelection
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from rl_coach.environments.gym_environment import Mujoco, mujoco_v2, MujocoInputFilter
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from rl_coach.filters.observation.observation_normalization_filter import ObservationNormalizationFilter
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from rl_coach.graph_managers.basic_rl_graph_manager import BasicRLGraphManager
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from rl_coach.graph_managers.graph_manager import ScheduleParameters
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from rl_coach.core_types import TrainingSteps, EnvironmentEpisodes, EnvironmentSteps, RunPhase
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from rl_coach.exploration_policies.continuous_entropy import ContinuousEntropyParameters
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####################
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# Graph Scheduling #
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####################
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schedule_params = ScheduleParameters()
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schedule_params.improve_steps = TrainingSteps(10000000000)
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schedule_params.steps_between_evaluation_periods = EnvironmentSteps(2000)
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schedule_params.evaluation_steps = EnvironmentEpisodes(1)
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schedule_params.heatup_steps = EnvironmentSteps(0)
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#########
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# Agent #
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#########
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agent_params = PPOAgentParameters()
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agent_params.network_wrappers['actor'].learning_rate = 0.001
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agent_params.network_wrappers['critic'].learning_rate = 0.001
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agent_params.network_wrappers['actor'].input_embedders_parameters['observation'].scheme = [Dense([64])]
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agent_params.network_wrappers['actor'].middleware_parameters.scheme = [Dense([64])]
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agent_params.network_wrappers['critic'].input_embedders_parameters['observation'].scheme = [Dense([64])]
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agent_params.network_wrappers['critic'].middleware_parameters.scheme = [Dense([64])]
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agent_params.input_filter = MujocoInputFilter()
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agent_params.input_filter.add_observation_filter('observation', 'normalize', ObservationNormalizationFilter())
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agent_params.exploration = ContinuousEntropyParameters()
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###############
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# Environment #
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###############
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env_params = Mujoco()
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env_params.level = SingleLevelSelection(mujoco_v2)
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vis_params = VisualizationParameters()
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vis_params.video_dump_methods = [SelectedPhaseOnlyDumpMethod(RunPhase.TEST), MaxDumpMethod()]
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vis_params.dump_mp4 = False
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# this preset is currently broken
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########
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# Test #
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########
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preset_validation_params = PresetValidationParameters()
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preset_validation_params.test = True
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preset_validation_params.min_reward_threshold = 400
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preset_validation_params.max_episodes_to_achieve_reward = 3000
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preset_validation_params.reward_test_level = 'inverted_pendulum'
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preset_validation_params.trace_test_levels = ['inverted_pendulum', 'hopper']
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graph_manager = BasicRLGraphManager(agent_params=agent_params, env_params=env_params,
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schedule_params=schedule_params, vis_params=vis_params,
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preset_validation_params=preset_validation_params)
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