sac_main.ipynb

{
 "cells": [
  {
   "cell_type": "code",
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   "metadata": {},
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "[2020-11-11 19:04:31,943] Making new env: LunarLanderContinuous-v2\n",
      "C:\\anaconda\\envs\\cs234\\lib\\site-packages\\gym\\envs\\registration.py:17: PkgResourcesDeprecationWarning: Parameters to load are deprecated.  Call .resolve and .require separately.\n",
      "  result = entry_point.load(False)\n",
      "[2020-11-11 19:04:38,226] Starting new video recorder writing to C:\\Users\\PRAKARSH KAUSHIK\\Documents\\Jupyter\\Research paper impementations\\soft actor critc\\temp\\video\\openaigym.video.0.29980.video000000.mp4\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 0 score -132.3 : avg score -132.3 \n",
      "episode : 1 score -238.1 : avg score -185.2 \n",
      "episode : 2 score -167.0 : avg score -179.1 \n",
      "episode : 3 score -211.1 : avg score -187.1 \n",
      "episode : 4 score -542.0 : avg score -258.1 \n",
      "episode : 5 score -156.8 : avg score -241.2 \n",
      "episode : 6 score -427.5 : avg score -267.8 \n",
      "episode : 7 score -386.5 : avg score -282.7 \n",
      "episode : 8 score -246.9 : avg score -278.7 \n",
      "episode : 9 score -291.1 : avg score -279.9 \n",
      "episode : 10 score -191.8 : avg score -271.9 \n",
      "episode : 11 score -369.3 : avg score -280.0 \n",
      "episode : 12 score -267.2 : avg score -279.0 \n",
      "episode : 13 score -217.3 : avg score -274.6 \n",
      "episode : 14 score -254.8 : avg score -273.3 \n",
      "episode : 15 score -294.3 : avg score -274.6 \n",
      "episode : 16 score -127.0 : avg score -265.9 \n",
      "episode : 17 score -159.2 : avg score -260.0 \n",
      "episode : 18 score -148.1 : avg score -254.1 \n",
      "episode : 19 score -126.5 : avg score -247.7 \n",
      "episode : 20 score -164.2 : avg score -243.8 \n",
      "episode : 21 score -167.7 : avg score -240.3 \n",
      "episode : 22 score -245.9 : avg score -240.5 \n",
      "episode : 23 score -115.3 : avg score -235.3 \n"
     ]
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    {
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     "text": [
      "[2020-11-11 19:13:04,197] Starting new video recorder writing to C:\\Users\\PRAKARSH KAUSHIK\\Documents\\Jupyter\\Research paper impementations\\soft actor critc\\temp\\video\\openaigym.video.0.29980.video000025.mp4\n"
     ]
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     "text": [
      "episode : 24 score -109.7 : avg score -230.3 \n",
      "episode : 25 score -160.1 : avg score -227.6 \n",
      "episode : 26 score -177.7 : avg score -225.8 \n",
      "episode : 27 score -147.2 : avg score -223.0 \n",
      "episode : 28 score -141.1 : avg score -220.1 \n",
      "episode : 29 score -121.6 : avg score -216.8 \n",
      "episode : 30 score -137.1 : avg score -214.3 \n",
      "episode : 31 score -140.5 : avg score -212.0 \n",
      "episode : 32 score -89.6 : avg score -208.3 \n",
      "episode : 33 score -177.9 : avg score -207.4 \n",
      "episode : 34 score -162.0 : avg score -206.1 \n",
      "episode : 35 score -614.4 : avg score -217.4 \n",
      "episode : 36 score -74.5 : avg score -213.6 \n",
      "episode : 37 score -195.7 : avg score -213.1 \n",
      "episode : 38 score -132.0 : avg score -211.0 \n",
      "episode : 39 score -504.7 : avg score -218.3 \n",
      "episode : 40 score -64.0 : avg score -214.6 \n",
      "episode : 41 score -120.4 : avg score -212.3 \n",
      "episode : 42 score -217.7 : avg score -212.5 \n",
      "episode : 43 score -147.1 : avg score -211.0 \n",
      "episode : 44 score -153.9 : avg score -209.7 \n",
      "episode : 45 score -152.3 : avg score -208.5 \n",
      "episode : 46 score -151.6 : avg score -207.2 \n",
      "episode : 47 score -173.8 : avg score -206.6 \n",
      "episode : 48 score -159.3 : avg score -205.6 \n"
     ]
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    {
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     "text": [
      "[2020-11-11 19:23:23,306] Starting new video recorder writing to C:\\Users\\PRAKARSH KAUSHIK\\Documents\\Jupyter\\Research paper impementations\\soft actor critc\\temp\\video\\openaigym.video.0.29980.video000050.mp4\n"
     ]
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     "name": "stdout",
     "output_type": "stream",
     "text": [
      "episode : 49 score -174.5 : avg score -205.0 \n",
      "episode : 50 score -168.5 : avg score -204.2 \n",
      "episode : 51 score -138.2 : avg score -203.0 \n",
      "episode : 52 score -173.7 : avg score -202.4 \n",
      "episode : 53 score -169.0 : avg score -201.8 \n",
      "episode : 54 score -146.1 : avg score -200.8 \n",
      "episode : 55 score -43.5 : avg score -198.0 \n",
      "episode : 56 score -136.6 : avg score -196.9 \n",
      "episode : 57 score -120.1 : avg score -195.6 \n",
      "episode : 58 score -147.1 : avg score -194.8 \n",
      "episode : 59 score -74.8 : avg score -192.8 \n",
      "episode : 60 score -97.2 : avg score -191.2 \n",
      "episode : 61 score -107.0 : avg score -189.8 \n",
      "episode : 62 score -109.1 : avg score -188.6 \n",
      "episode : 63 score -142.7 : avg score -187.8 \n",
      "episode : 64 score -132.5 : avg score -187.0 \n",
      "episode : 65 score -123.2 : avg score -186.0 \n",
      "episode : 66 score -131.1 : avg score -185.2 \n",
      "episode : 67 score -98.1 : avg score -183.9 \n",
      "episode : 68 score -167.7 : avg score -183.7 \n",
      "episode : 69 score -108.8 : avg score -182.6 \n",
      "episode : 70 score -64.0 : avg score -180.9 \n",
      "episode : 71 score -84.9 : avg score -179.6 \n",
      "episode : 72 score -130.1 : avg score -178.9 \n",
      "episode : 73 score -56.8 : avg score -177.3 \n"
     ]
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    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "[2020-11-11 19:25:29,093] Starting new video recorder writing to C:\\Users\\PRAKARSH KAUSHIK\\Documents\\Jupyter\\Research paper impementations\\soft actor critc\\temp\\video\\openaigym.video.0.29980.video000075.mp4\n"
     ]
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     "name": "stdout",
     "output_type": "stream",
     "text": [
      "episode : 74 score -51.9 : avg score -175.6 \n",
      "episode : 75 score -82.8 : avg score -174.4 \n",
      "episode : 76 score -124.7 : avg score -173.7 \n",
      "episode : 77 score -28.3 : avg score -171.9 \n",
      "episode : 78 score -52.1 : avg score -170.4 \n",
      "episode : 79 score -132.1 : avg score -169.9 \n",
      "episode : 80 score -59.8 : avg score -168.5 \n",
      "episode : 81 score -141.4 : avg score -168.2 \n",
      "episode : 82 score -87.3 : avg score -167.2 \n",
      "episode : 83 score -126.7 : avg score -166.7 \n",
      "episode : 84 score -94.4 : avg score -165.9 \n",
      "episode : 85 score -118.3 : avg score -165.3 \n",
      "episode : 86 score -130.3 : avg score -164.9 \n",
      "episode : 87 score -64.8 : avg score -163.8 \n",
      "episode : 88 score -102.7 : avg score -163.1 \n",
      "episode : 89 score -45.2 : avg score -161.8 \n",
      "episode : 90 score -117.4 : avg score -161.3 \n",
      "episode : 91 score -316.0 : avg score -163.0 \n",
      "episode : 92 score -370.0 : avg score -165.2 \n",
      "episode : 93 score -249.4 : avg score -166.1 \n",
      "episode : 94 score -157.1 : avg score -166.0 \n",
      "episode : 95 score -258.2 : avg score -167.0 \n",
      "episode : 96 score -175.6 : avg score -167.1 \n",
      "episode : 97 score -211.7 : avg score -167.5 \n",
      "episode : 98 score -66.1 : avg score -166.5 \n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "[2020-11-11 19:30:13,039] Starting new video recorder writing to C:\\Users\\PRAKARSH KAUSHIK\\Documents\\Jupyter\\Research paper impementations\\soft actor critc\\temp\\video\\openaigym.video.0.29980.video000100.mp4\n"
     ]
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     "name": "stdout",
     "output_type": "stream",
     "text": [
      "episode : 99 score -127.1 : avg score -166.1 \n",
      "episode : 100 score -235.8 : avg score -167.1 \n",
      "episode : 101 score -127.9 : avg score -166.0 \n",
      "episode : 102 score -49.3 : avg score -164.9 \n",
      "episode : 103 score -60.8 : avg score -163.4 \n",
      "episode : 104 score -124.5 : avg score -159.2 \n",
      "episode : 105 score -41.4 : avg score -158.0 \n",
      "episode : 106 score -83.4 : avg score -154.6 \n",
      "episode : 107 score -59.5 : avg score -151.3 \n",
      "episode : 108 score -89.2 : avg score -149.7 \n",
      "episode : 109 score -62.0 : avg score -147.4 \n",
      "episode : 110 score -122.3 : avg score -146.8 \n",
      "episode : 111 score -110.0 : avg score -144.2 \n",
      "episode : 112 score -29.8 : avg score -141.8 \n",
      "episode : 113 score -121.9 : avg score -140.8 \n",
      "episode : 114 score -88.1 : avg score -139.2 \n",
      "episode : 115 score -136.9 : avg score -137.6 \n",
      "episode : 116 score -97.0 : avg score -137.3 \n",
      "episode : 117 score -110.4 : avg score -136.8 \n",
      "episode : 118 score -78.5 : avg score -136.1 \n",
      "episode : 119 score -39.5 : avg score -135.2 \n",
      "episode : 120 score -40.3 : avg score -134.0 \n",
      "episode : 121 score -70.2 : avg score -133.0 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 122 score -64.4 : avg score -131.2 \n",
      "episode : 123 score -121.9 : avg score -131.3 \n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "[2020-11-11 19:43:37,337] Starting new video recorder writing to C:\\Users\\PRAKARSH KAUSHIK\\Documents\\Jupyter\\Research paper impementations\\soft actor critc\\temp\\video\\openaigym.video.0.29980.video000125.mp4\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 124 score -59.8 : avg score -130.8 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 125 score -54.6 : avg score -129.7 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 126 score -63.6 : avg score -128.6 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 127 score -63.1 : avg score -127.7 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 128 score -96.8 : avg score -127.3 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 129 score -91.5 : avg score -127.0 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 130 score -70.8 : avg score -126.3 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 131 score -112.7 : avg score -126.1 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 132 score -65.9 : avg score -125.8 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 133 score -61.3 : avg score -124.6 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 134 score -75.6 : avg score -123.8 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 135 score -59.0 : avg score -118.2 \n",
      "episode : 136 score -86.7 : avg score -118.3 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 137 score -50.7 : avg score -116.9 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 138 score -106.4 : avg score -116.6 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 139 score -83.3 : avg score -112.4 \n",
      "episode : 140 score -72.2 : avg score -112.5 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 141 score -34.0 : avg score -111.6 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 142 score -67.4 : avg score -110.1 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 143 score -54.4 : avg score -109.2 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 144 score -94.5 : avg score -108.6 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 145 score -48.4 : avg score -107.6 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 146 score -65.1 : avg score -106.7 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 147 score -59.2 : avg score -105.6 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 148 score -88.9 : avg score -104.9 \n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "[2020-11-11 19:56:58,157] Starting new video recorder writing to C:\\Users\\PRAKARSH KAUSHIK\\Documents\\Jupyter\\Research paper impementations\\soft actor critc\\temp\\video\\openaigym.video.0.29980.video000150.mp4\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 149 score -75.9 : avg score -103.9 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 150 score -58.1 : avg score -102.8 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 151 score -85.0 : avg score -102.3 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 152 score -68.8 : avg score -101.2 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 153 score -91.2 : avg score -100.4 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 154 score -54.4 : avg score -99.5 \n",
      "episode : 155 score -54.0 : avg score -99.6 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 156 score -84.2 : avg score -99.1 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 157 score -81.1 : avg score -98.7 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
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      "................Saving the checkpoint............\n",
      "episode : 158 score -61.8 : avg score -97.8 \n",
      "episode : 159 score -88.1 : avg score -98.0 \n",
      "episode : 160 score -83.9 : avg score -97.8 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
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      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 161 score -82.1 : avg score -97.6 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
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      "episode : 162 score -68.7 : avg score -97.2 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
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      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 163 score -37.9 : avg score -96.1 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 164 score -54.7 : avg score -95.4 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 165 score -47.8 : avg score -94.6 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
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      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "episode : 166 score -70.2 : avg score -94.0 \n",
      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
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      "episode : 167 score -88.7 : avg score -93.9 \n",
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      "episode : 168 score -68.9 : avg score -92.9 \n",
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      "episode : 169 score -61.4 : avg score -92.4 \n",
      "episode : 170 score -76.7 : avg score -92.6 \n",
      "episode : 171 score -72.3 : avg score -92.4 \n",
      ".............Saving the model............\n",
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      "episode : 172 score -72.1 : avg score -91.9 \n",
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      "episode : 173 score -49.7 : avg score -91.8 \n"
     ]
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    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "[2020-11-11 20:12:07,479] Starting new video recorder writing to C:\\Users\\PRAKARSH KAUSHIK\\Documents\\Jupyter\\Research paper impementations\\soft actor critc\\temp\\video\\openaigym.video.0.29980.video000175.mp4\n"
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      "episode : 174 score -96.6 : avg score -92.2 \n",
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      "episode : 179 score -86.1 : avg score -91.9 \n",
      "episode : 180 score -53.4 : avg score -91.8 \n",
      ".............Saving the model............\n",
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      "episode : 181 score -97.3 : avg score -91.4 \n",
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      "episode : 182 score -59.7 : avg score -91.1 \n",
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      "episode : 183 score -47.7 : avg score -90.3 \n",
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      "episode : 184 score -62.3 : avg score -90.0 \n",
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      "episode : 185 score -76.0 : avg score -89.6 \n",
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      "episode : 186 score -75.1 : avg score -89.0 \n",
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      "episode : 187 score -48.2 : avg score -88.8 \n",
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      "episode : 188 score -60.5 : avg score -88.4 \n",
      "episode : 189 score -87.9 : avg score -88.8 \n",
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      "episode : 191 score -51.9 : avg score -85.8 \n",
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      "episode : 192 score -80.0 : avg score -82.9 \n",
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      "episode : 193 score -80.8 : avg score -81.2 \n",
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      "episode : 195 score -45.9 : avg score -78.1 \n",
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      "episode : 196 score -64.7 : avg score -77.0 \n",
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      "episode : 197 score -53.1 : avg score -75.4 \n",
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      "episode : 198 score -48.4 : avg score -75.2 \n"
     ]
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    {
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      "[2020-11-11 20:25:35,442] Starting new video recorder writing to C:\\Users\\PRAKARSH KAUSHIK\\Documents\\Jupyter\\Research paper impementations\\soft actor critc\\temp\\video\\openaigym.video.0.29980.video000200.mp4\n"
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    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      ".............Saving the model............\n",
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      "episode : 199 score -41.9 : avg score -74.4 \n",
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      "episode : 200 score -97.7 : avg score -73.0 \n",
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      ".............Saving the model............\n",
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      "episode : 211 score -59.9 : avg score -72.1 \n",
      "episode : 212 score -72.3 : avg score -72.5 \n",
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      "episode : 213 score -77.0 : avg score -72.0 \n",
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      "episode : 214 score -68.9 : avg score -71.8 \n",
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      "episode : 215 score -32.4 : avg score -70.8 \n",
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      "episode : 216 score -82.6 : avg score -70.7 \n",
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      "episode : 217 score -55.1 : avg score -70.1 \n",
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     "output_type": "stream",
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      "[2020-11-11 20:39:03,700] Starting new video recorder writing to C:\\Users\\PRAKARSH KAUSHIK\\Documents\\Jupyter\\Research paper impementations\\soft actor critc\\temp\\video\\openaigym.video.0.29980.video000225.mp4\n"
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      ".............Saving the model............\n",
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      "episode : 227 score -31.1 : avg score -70.0 \n",
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      "episode : 228 score -59.0 : avg score -69.6 \n",
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      "episode : 230 score -28.1 : avg score -68.8 \n",
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      "episode : 235 score -45.8 : avg score -68.6 \n",
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      ".............Saving the model............\n",
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      "episode : 239 score -63.9 : avg score -67.9 \n",
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      "episode : 289 score -53.2 : avg score -67.6 \n",
      ".............Saving the model............\n",
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      "episode : 291 score -68.6 : avg score -67.4 \n",
      ".............Saving the model............\n",
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      "episode : 292 score -52.1 : avg score -67.1 \n",
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      "episode : 293 score -62.2 : avg score -67.0 \n",
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      "episode : 294 score -48.0 : avg score -66.9 \n",
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      "[2020-11-11 21:24:04,429] Starting new video recorder writing to C:\\Users\\PRAKARSH KAUSHIK\\Documents\\Jupyter\\Research paper impementations\\soft actor critc\\temp\\video\\openaigym.video.0.29980.video000300.mp4\n"
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      "episode : 302 score -51.0 : avg score -66.9 \n",
      ".............Saving the model............\n",
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      ".............Saving the model............\n",
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      "episode : 310 score -74.1 : avg score -66.3 \n",
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      "episode : 311 score -53.4 : avg score -66.2 \n",
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      "episode : 312 score -61.0 : avg score -66.1 \n",
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      "episode : 318 score -34.3 : avg score -65.4 \n",
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      "episode : 350 score -79.9 : avg score -65.4 \n",
      ".............Saving the model............\n",
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      "episode : 351 score -51.8 : avg score -65.1 \n",
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      "episode : 359 score -66.5 : avg score -64.4 \n",
      ".............Saving the model............\n",
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      "episode : 360 score -42.9 : avg score -64.0 \n",
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      ".............Saving the model............\n",
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      "episode : 363 score -38.9 : avg score -63.6 \n",
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      ".............Saving the model............\n",
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      "episode : 373 score -31.4 : avg score -62.9 \n"
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      ".............Saving the model............\n",
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      "episode : 444 score -37.9 : avg score -62.4 \n",
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      "episode : 464 score -58.1 : avg score -60.7 \n",
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      "episode : 465 score -55.4 : avg score -60.5 \n",
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      "episode : 466 score -52.5 : avg score -60.4 \n",
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      ".............Saving the model............\n",
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      "episode : 485 score -57.3 : avg score -60.1 \n",
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      "episode : 489 score -33.3 : avg score -59.9 \n",
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      "episode : 490 score -36.4 : avg score -59.7 \n",
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      "episode : 492 score -55.3 : avg score -59.1 \n",
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      "episode : 493 score -70.9 : avg score -58.8 \n",
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      "episode : 494 score -59.3 : avg score -58.7 \n",
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      "[2020-11-12 03:55:15,864] Starting new video recorder writing to C:\\Users\\PRAKARSH KAUSHIK\\Documents\\Jupyter\\Research paper impementations\\soft actor critc\\temp\\video\\openaigym.video.0.29980.video000500.mp4\n"
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      "episode : 521 score -22.7 : avg score -57.5 \n",
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      "[2020-11-12 04:06:13,783] Starting new video recorder writing to C:\\Users\\PRAKARSH KAUSHIK\\Documents\\Jupyter\\Research paper impementations\\soft actor critc\\temp\\video\\openaigym.video.0.29980.video000525.mp4\n"
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      "episode : 698 score -50.7 : avg score -52.9 \n"
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      "episode : 756 score -55.8 : avg score -53.1 \n",
      ".............Saving the model............\n",
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      "episode : 757 score -34.7 : avg score -52.5 \n",
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      ".............Saving the model............\n",
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      "episode : 761 score -37.1 : avg score -52.1 \n",
      "episode : 762 score -61.5 : avg score -52.4 \n",
      "episode : 763 score -57.3 : avg score -52.3 \n",
      "episode : 764 score -52.6 : avg score -52.4 \n",
      ".............Saving the model............\n",
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      "episode : 767 score -91.6 : avg score -52.3 \n",
      ".............Saving the model............\n",
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      "episode : 768 score -16.9 : avg score -51.7 \n",
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      "episode : 769 score -53.2 : avg score -51.6 \n",
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      ".............Saving the model............\n",
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      "episode : 853 score -40.1 : avg score -51.8 \n",
      ".............Saving the model............\n",
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      "episode : 854 score -28.0 : avg score -51.3 \n",
      "episode : 855 score -58.6 : avg score -51.6 \n",
      ".............Saving the model............\n",
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      "episode : 856 score -23.6 : avg score -51.2 \n",
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      "episode : 857 score -24.4 : avg score -51.1 \n",
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      ".............Saving the model............\n",
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      "episode : 862 score -19.0 : avg score -50.5 \n",
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      "episode : 863 score -9.9 : avg score -50.0 \n",
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      ".............Saving the model............\n",
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      "episode : 870 score -30.8 : avg score -49.2 \n",
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      "[2020-11-12 07:01:44,339] Starting new video recorder writing to C:\\Users\\PRAKARSH KAUSHIK\\Documents\\Jupyter\\Research paper impementations\\soft actor critc\\temp\\video\\openaigym.video.0.29980.video000875.mp4\n"
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      ".............Saving the model............\n",
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      "episode : 874 score -33.0 : avg score -49.0 \n",
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      ".............Saving the model............\n",
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      "episode : 889 score -47.7 : avg score -48.4 \n",
      ".............Saving the model............\n",
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      "episode : 890 score -21.3 : avg score -48.1 \n",
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      "episode : 891 score -16.3 : avg score -47.8 \n",
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      ".............Saving the model............\n",
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      "episode : 895 score -6.0 : avg score -47.0 \n",
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      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
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      ".............Saving the model............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
      "................Saving the checkpoint............\n",
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\n",
      "text/plain": [
       "<Figure size 432x288 with 1 Axes>"
      ]
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "import gym\n",
    "import numpy as np\n",
    "from gym import wrappers\n",
    "from sac import agent\n",
    "from utils import plot_learning_curve\n",
    "\n",
    "\n",
    "# Implementation of Soft Actor Critic paper\n",
    "# :https://arxiv.org/abs/1801.01290\n",
    "\n",
    "\n",
    "if __name__ == \"__main__\":\n",
    "    \n",
    "    \n",
    "    #Uncomment the env_name for experiments on different environments\n",
    "    #env_name=\"InvertedPendulum-v1\"\n",
    "    #env_name = \"HalfCheetah-v1\"\n",
    "    env_name=\"LunarLanderContinuous-v2\"\n",
    "    #env_name=\"Humanoid-v1\"\n",
    "    env = gym.make(env_name)\n",
    "    agent1 = agent(inp_dims=env.observation_space.shape,env= env,n_actions= env.action_space.shape[0])\n",
    "    \n",
    "    #keeping episode_id :True will record for all the episodes which would consume a lot of memory in case of long training\n",
    "    #so recording every 25th episode to keep track of the training progress\n",
    "    env = wrappers.Monitor(env, 'temp/video', video_callable=lambda episode_id: episode_id%25==0 , force=True)\n",
    "    \n",
    "    n_games = 1000 #250\n",
    "    filename = env_name+\".png\"\n",
    "    fig_file = \"plots/\"+ filename\n",
    "    best_score = env.reward_range[0]\n",
    "    score_hist = []\n",
    "    env.render( \"rgb_array\")\n",
    "\n",
    "    for i in range(n_games):\n",
    "        observation = env.reset()\n",
    "        done = False\n",
    "        score = 0\n",
    "        while not done:\n",
    "            action = agent1.action_choose(observation)\n",
    "            nw_observation, reward, done, _ = env.step(action)\n",
    "            score += reward\n",
    "            agent1.rem_transition(observation, action, reward, nw_observation, done)\n",
    "            agent1.learning()\n",
    "            observation = nw_observation\n",
    "\n",
    "        score_hist.append(score)\n",
    "        avg_score = np.mean(score_hist[-100:])\n",
    "\n",
    "        if avg_score > best_score:\n",
    "            best_score = avg_score\n",
    "            agent1.model_save()\n",
    "\n",
    "        print('episode :', i, 'score %.1f :' % score, 'avg score %.1f ' % avg_score)\n",
    "\n",
    "\n",
    "    \n",
    "\n",
    "\n",
    "    \n",
    "    x = [i+1 for i in range(n_games)]\n",
    "    plot_learning_curve(x, score_hist, fig_file,n_games)"
   ]
  }
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