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and b/agentData/SAC_try9_convergence.png differ diff --git a/agentData/SAC_try9_hyperparameters.yaml b/agentData/SAC_try9_hyperparameters.yaml new file mode 100644 index 0000000..d5d60ab --- /dev/null +++ b/agentData/SAC_try9_hyperparameters.yaml @@ -0,0 +1,49 @@ +agentName: SAC_try9 +agent_kwargs: + action_noise: + mu: + - 0.0 + - 0.0 + - 0.0 + sigma: + - 0.05 + - 0.05 + - 0.05 + batch_size: 256 + buffer_size: 196608 + ent_coef: auto_0.1 + gamma: 0.95 + gradient_steps: 1 + learning_rate: 0.0005 + learning_starts: 256 + target_entropy: auto + train_freq: + - 1 + - step + use_sde_at_warmup: false + verbose: 1 +env_kwargs: + currentTurbScale: 2.0 + currentVelScale: 1.0 + noiseMagActuation: 0.1 + noiseMagCoeffs: 0.1 +nProc: 16 +nTrainingSteps: 1500000 +policy_kwargs: + activation_fn: + net_arch: + pi: + - 128 + - 128 + - 128 + qf: + - 128 + - 128 + - 128 + use_sde: false +trainingTime: +- 3314.020191 +- 3125.679191 +- 2926.973152 +- 2840.737664 +- 2825.509448 diff --git a/main_00_SAC_stable_baselines.py b/main_00_SAC_stable_baselines.py index 71f16a8..e5f61c5 100644 --- a/main_00_SAC_stable_baselines.py +++ b/main_00_SAC_stable_baselines.py @@ -36,11 +36,8 @@ # An ugly fix for OpenMP conflicts in my installation. os.environ["KMP_DUPLICATE_LIB_OK"] = "TRUE" - # TODO retrain with an extended state that will include surface pressure estimates - # based on body velocity, or maybe just zeros? These are needed to restart training in CFD. - # For saving trained agents. - agentName = "SAC_try8_restart_noReplayBuffer" + agentName = "SAC_try9" # Set to None to pick the best agent from the trained set. Specify as string # to load a particular saved model. @@ -52,22 +49,22 @@ do_evaluation = False # --- Training parameters --- - - # agentToRestart = None - agentToRestart = "SAC_try8_forRestart_0" + loadReplayBuffer = True # For a "perfect" restart keep this on. + agentToRestart = None + # agentToRestart = "SAC_try8_forRestart_0" # No. parallel processes. nProc = 16 # Do everything N times to rule out random successes and failures. - nAgents = 1 + nAgents = 5 # Any found agent will be left alone unless this is set to true. overwrite = True - # nTrainingSteps = 1_500_000 - nTrainingSteps = 500_000 - + nTrainingSteps = 1_500_000 + # nTrainingSteps = 500_000 +# agent_kwargs = { 'learning_rate': 5e-4, 'gamma': 0.95, @@ -80,7 +77,9 @@ "action_noise": VectorizedActionNoise(NormalActionNoise( np.zeros(3), 0.05*np.ones(3)), nProc), "use_sde_at_warmup": False, - "target_entropy": -4., + # "target_entropy": -4., + "target_entropy": "auto", + "ent_coef": "auto_0.1", } policy_kwargs = { "activation_fn": torch.nn.GELU, @@ -136,7 +135,8 @@ else: agent = stable_baselines3.SAC.load("./agentData/{}".format(agentToRestart), env=env, force_reset=False) - # agent.load_replay_buffer("./agentData/{}_replayBuffer".format(agentToRestart)) + if loadReplayBuffer: + agent.load_replay_buffer("./agentData/{}_replayBuffer".format(agentToRestart)) # Train the agent for N steps conv, trainingTime = resources.trainAgent(agent, nTrainingSteps, saveFile) diff --git a/main_01_SAC_sbl_customInit.py b/main_01_SAC_sbl_customInit.py index b9644d0..5800741 100644 --- a/main_01_SAC_sbl_customInit.py +++ b/main_01_SAC_sbl_customInit.py @@ -115,7 +115,7 @@ # %% Create test rollouts. # Create a random seed. - seed = 1 + seed = 3 rng = np.random.default_rng(seed) np.random.seed(seed) @@ -146,16 +146,6 @@ observations = ep[stateVars].values actions = ep[actionVars].values[:-1] rewards = ep["reward"].values[:-1] - # observations = [ep[stateVars].values[0]] - # actions = np.empty((0, env_pretrain.action_space.shape[0])) - # rewards = [] - # for i in range(1, len(ep)): - # obs = ep[stateVars].values[i] - # action = ep[actionVars].values[i] - # reward = ep["reward"].values[i] - # observations = np.append(observations, obs[np.newaxis, :], axis=0) - # actions = np.append(actions, action[np.newaxis, :], axis=0) - # rewards = np.append(rewards, reward) out_dict_stacked = {"rews": rewards, "acts": actions, "obs": observations, "infos": None} traj = TrajectoryWithRew(**out_dict_stacked, terminal=(rewards[-1] < -200)) @@ -163,36 +153,6 @@ rollouts.append(traj) - # Initial approach with creating rollouts from the env directly. Storing and - # reading data is faster and allows the same data to be reused for reproducibility. - # # Create own rollout generation to circumvent the issues with the imitation wrappers. - # rollouts = [] - # for iEp in range(nPretrainEpisodes): - # obs = env_pretrain.reset() - # observations = [obs] - # actions = np.empty((0, env_pretrain.action_space.shape[0])) - # rewards = [] - # for i in range(env_pretrain._max_episode_steps): - # action, _states = pdController.predict(obs, deterministic=True) - # obs, reward, done, info = env_pretrain.step(action) - # observations = np.append(observations, obs[np.newaxis, :], axis=0) - # actions = np.append(actions, action[np.newaxis, :], axis=0) - # rewards = np.append(rewards, reward) - - # out_dict_stacked = {"rews": rewards, "acts": actions, "obs": observations, "infos": None} - # traj = TrajectoryWithRew(**out_dict_stacked, terminal=done) - # assert traj.rews.shape[0] == traj.acts.shape[0] == traj.obs.shape[0] - 1 - - # rollouts.append(traj) - - # # Pack the generated rollouts into DataFrames for eventual saving and easier visualisation. - # pretrainEpisodes = [] - # for r in rollouts: - # pretrainEpisodes.append(pandas.DataFrame( - # data=np.concatenate([r.obs[1:, :], r.acts, r.rews[:, np.newaxis]], axis=1), - # columns=["s{:d}".format(i) for i in range(r.obs.shape[1])] + - # ["a{:d}".format(i) for i in range(r.acts.shape[1])] + ["r"])) - # Plot the different training episodes. fig, ax = plt.subplots() ax.set_xlabel("s0") @@ -228,7 +188,7 @@ # Evaluate print("\nRandomly initialised agent") - rewards_init, _ = resources.evaluate_agent(agent, env_eval, num_episodes=100) + _, rewards_init = resources.evaluate_agent(agent, env_eval, num_episodes=100) # TODO Choose episodes for pretraining at random. iPretrain = np.random.default_rng().choice( @@ -258,7 +218,7 @@ # Evaluate print("\nPretrained agent") - rewards_pre, _ = resources.evaluate_agent(agent, env_eval, num_episodes=100) + _, rewards_pre = resources.evaluate_agent(agent, env_eval, num_episodes=100) # Save the pretrained agent. agent.save(saveFile+"_pretrained") @@ -283,7 +243,7 @@ # Evaluate print("\nTrained agent") - rewards_trained, _ = resources.evaluate_agent(agent, env_eval, num_episodes=100) + _, rewards_trained = resources.evaluate_agent(agent, env_eval, num_episodes=100) # Plot convergence of each agent. Redo after each agent to provide # intermediate updates on how the training is going. @@ -294,15 +254,13 @@ fig, ax = plt.subplots() ax.set_xlabel("Reward range") ax.set_ylabel("Episode count") - bins = np.linspace(0, rewards_trained.max(), 11) - h, x = np.histogram(rewards_init, bins=bins) - x = (x[1:] + x[:-1])/2 + bins = np.linspace(0, np.max(rewards_trained), 11) + x = (bins[1:] + bins[:-1])/2 + h, _ = np.histogram(rewards_init, bins=bins) plt.bar(x, h, color="green", alpha=0.5, label="Initialised", width=20) - h, x = np.histogram(rewards_pre, bins=bins) - x = (x[1:] + x[:-1])/2 + h, _ = np.histogram(rewards_pre, bins=bins) plt.bar(x, h, color="blue", alpha=0.5, label="Pretrained", width=20) - h, x = np.histogram(rewards_trained, bins=bins) - x = (x[1:] + x[:-1])/2 + h, _ = np.histogram(rewards_trained, bins=bins) plt.bar(x, h, color="red", alpha=0.5, label="Pretrained+Trained", width=20) ax.legend() diff --git a/script_1_compareTraining.py b/script_1_compareTraining.py index e7e2492..16e0088 100644 --- a/script_1_compareTraining.py +++ b/script_1_compareTraining.py @@ -23,12 +23,15 @@ # %% Load trainings = { # Baseline agent with nothing special. - "Random init.": "SAC_try8", + # "Random init.": "SAC_try8", + + # 2 dummy state vars for CFD integration + "Random init long state": "SAC_try9", # Restart tests. - "For restart": "SAC_try8_forRestart", - "Restart": "SAC_try8_restart", - "Restart no replay buffer": "SAC_try8_restart_noReplayBuffer", + # "For restart": "SAC_try8_forRestart", + # "Restart": "SAC_try8_restart", + # "Restart no replay buffer": "SAC_try8_restart_noReplayBuffer", # Own pretraining - see separate branch. # "Pretrained actor": @@ -39,7 +42,7 @@ # "SAC_customInit_try1_copyActorCritic_LR_5e-4_targetEntropy_-4_actionNoise_0.05", # SBL pretraining. - # "Pretrained from PID": "SAC_sblPretrain_try0_fromPID", + "Pretrained from PID": "SAC_sblPretrain_try0_fromPID", } colours = plt.cm.nipy_spectral(np.linspace(0., 0.95, len(trainings))) @@ -67,11 +70,18 @@ lns = [] for i, t in enumerate(trainings): + kBest = None for k in data: if t not in k: continue + elif kBest is None: + kBest = k ln = ax[0].plot(data[k]["r"], c=colours[i], label=t) + if np.mean(data[k]["r"].values[-50:]) > np.mean(data[kBest]["r"].values[-50:]): + kBest = k ax[1].plot(data[k]["l"], c=colours[i], label=t) + # print(t, kBest) + # ax[0].plot(data[kBest]["r"], "b-", lw=4, alpha=0.25) lns += ln fig.legend(lns, [l.get_label() for l in lns], loc="upper center", ncol=3, framealpha=1) diff --git a/verySimpleAuv.py b/verySimpleAuv.py index adb22e4..b3fa3a9 100644 --- a/verySimpleAuv.py +++ b/verySimpleAuv.py @@ -136,7 +136,7 @@ def __init__(self, seed=None, dt=0.02, noiseMagCoeffs=0.0, noiseMagActuation=0.0 shape=(self.lenAction,), dtype=np.float32) # Observation space. - lenState = 9 + lenState = 9 + 2 self.observation_space = gym.spaces.Box( -1*np.ones(lenState, dtype=np.float32), np.ones(lenState, dtype=np.float32), @@ -167,7 +167,8 @@ def dataToState(self, pos, heading, velocities): min(1., max(-1., (perr[0]-self.perr_o[0])/0.025)), min(1., max(-1., (perr[1]-self.perr_o[1])/0.025)), ]), - np.clip(velocities/[0.2, 0.2, 30./180.*np.pi], -1., 1.) + np.clip(velocities/[0.2, 0.2, 30./180.*np.pi], -1., 1.), + np.zeros(2), # Placeholder for additional state variables used only in CFD ]) return newState