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CleanRL's PPO (Handle truncation properly)
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import argparse | |
import copy | |
import os | |
import random | |
import time | |
from distutils.util import strtobool | |
from typing import Callable | |
import gymnasium as gym | |
import numpy as np | |
import torch | |
import torch.nn as nn | |
import torch.optim as optim | |
from torch.distributions.normal import Normal | |
from torch.utils.tensorboard import SummaryWriter | |
def parse_args(): | |
# fmt: off | |
parser = argparse.ArgumentParser() | |
parser.add_argument("--exp-name", type=str, default=os.path.basename(__file__).rstrip(".py"), | |
help="the name of this experiment") | |
parser.add_argument("--seed", type=int, default=1, | |
help="seed of the experiment") | |
parser.add_argument("--torch-deterministic", type=lambda x: bool(strtobool(x)), default=True, nargs="?", const=True, | |
help="if toggled, `torch.backends.cudnn.deterministic=False`") | |
parser.add_argument("--cuda", type=lambda x: bool(strtobool(x)), default=True, nargs="?", const=True, | |
help="if toggled, cuda will be enabled by default") | |
parser.add_argument("--track", type=lambda x: bool(strtobool(x)), default=False, nargs="?", const=True, | |
help="if toggled, this experiment will be tracked with Weights and Biases") | |
parser.add_argument("--wandb-project-name", type=str, default="cleanRL", | |
help="the wandb's project name") | |
parser.add_argument("--wandb-entity", type=str, default=None, | |
help="the entity (team) of wandb's project") | |
parser.add_argument("--capture-video", type=lambda x: bool(strtobool(x)), default=False, nargs="?", const=True, | |
help="whether to capture videos of the agent performances (check out `videos` folder)") | |
parser.add_argument("--save-model", type=lambda x: bool(strtobool(x)), default=False, nargs="?", const=True, | |
help="whether to save model into the `runs/{run_name}` folder") | |
parser.add_argument("--upload-model", type=lambda x: bool(strtobool(x)), default=False, nargs="?", const=True, | |
help="whether to upload the saved model to huggingface") | |
parser.add_argument("--hf-entity", type=str, default="", | |
help="the user or org name of the model repository from the Hugging Face Hub") | |
# Algorithm specific arguments | |
parser.add_argument("--env-id", type=str, default="HalfCheetah-v4", | |
help="the id of the environment") | |
parser.add_argument("--total-timesteps", type=int, default=1000000, | |
help="total timesteps of the experiments") | |
parser.add_argument("--learning-rate", type=float, default=3e-4, | |
help="the learning rate of the optimizer") | |
parser.add_argument("--num-envs", type=int, default=1, | |
help="the number of parallel game environments") | |
parser.add_argument("--num-steps", type=int, default=2048, | |
help="the number of steps to run in each environment per policy rollout") | |
parser.add_argument("--anneal-lr", type=lambda x: bool(strtobool(x)), default=True, nargs="?", const=True, | |
help="Toggle learning rate annealing for policy and value networks") | |
parser.add_argument("--gamma", type=float, default=0.99, | |
help="the discount factor gamma") | |
parser.add_argument("--gae-lambda", type=float, default=0.95, | |
help="the lambda for the general advantage estimation") | |
parser.add_argument("--num-minibatches", type=int, default=32, | |
help="the number of mini-batches") | |
parser.add_argument("--update-epochs", type=int, default=10, | |
help="the K epochs to update the policy") | |
parser.add_argument("--norm-adv", type=lambda x: bool(strtobool(x)), default=True, nargs="?", const=True, | |
help="Toggles advantages normalization") | |
parser.add_argument("--clip-coef", type=float, default=0.2, | |
help="the surrogate clipping coefficient") | |
parser.add_argument("--clip-vloss", type=lambda x: bool(strtobool(x)), default=True, nargs="?", const=True, | |
help="Toggles whether or not to use a clipped loss for the value function, as per the paper.") | |
parser.add_argument("--ent-coef", type=float, default=0.0, | |
help="coefficient of the entropy") | |
parser.add_argument("--vf-coef", type=float, default=0.5, | |
help="coefficient of the value function") | |
parser.add_argument("--max-grad-norm", type=float, default=0.5, | |
help="the maximum norm for the gradient clipping") | |
parser.add_argument("--target-kl", type=float, default=None, | |
help="the target KL divergence threshold") | |
args = parser.parse_args() | |
args.batch_size = int(args.num_envs * args.num_steps) | |
args.minibatch_size = int(args.batch_size // args.num_minibatches) | |
# fmt: on | |
return args | |
# https://github.com/Farama-Foundation/Gymnasium/blob/main/gymnasium/wrappers/normalize.py | |
class RunningMeanStd(nn.Module): | |
def __init__(self, epsilon=1e-4, shape=()): | |
super().__init__() | |
self.register_buffer("mean", torch.zeros(shape, dtype=torch.float64)) | |
self.register_buffer("var", torch.ones(shape, dtype=torch.float64)) | |
self.register_buffer("count", torch.tensor(epsilon, dtype=torch.float64)) | |
def update(self, x): | |
x = torch.as_tensor(x, dtype=torch.float64).to(self.mean.device) | |
batch_mean = torch.mean(x, dim=0).to(self.mean.device) | |
batch_var = torch.var(x, dim=0, unbiased=False).to(self.mean.device) | |
batch_count = x.shape[0] | |
self.mean, self.var, self.count = update_mean_var_count_from_moments( | |
self.mean, self.var, self.count, batch_mean, batch_var, batch_count | |
) | |
def update_mean_var_count_from_moments(mean, var, count, batch_mean, batch_var, batch_count): | |
delta = batch_mean - mean | |
tot_count = count + batch_count | |
new_mean = mean + delta * batch_count / tot_count | |
m_a = var * count | |
m_b = batch_var * batch_count | |
M2 = m_a + m_b + torch.square(delta) * count * batch_count / tot_count | |
new_var = M2 / tot_count | |
new_count = tot_count | |
return new_mean, new_var, new_count | |
class NormalizeObservation(gym.Wrapper, gym.utils.RecordConstructorArgs): | |
def __init__(self, env: gym.Env, epsilon: float = 1e-8): | |
gym.utils.RecordConstructorArgs.__init__(self, epsilon=epsilon) | |
gym.Wrapper.__init__(self, env) | |
try: | |
self.num_envs = self.get_wrapper_attr("num_envs") | |
self.is_vector_env = self.get_wrapper_attr("is_vector_env") | |
except AttributeError: | |
self.num_envs = 1 | |
self.is_vector_env = False | |
if self.is_vector_env: | |
self.obs_rms = RunningMeanStd(shape=self.single_observation_space.shape) | |
else: | |
self.obs_rms = RunningMeanStd(shape=self.observation_space.shape) | |
self.epsilon = epsilon | |
self.enable = True | |
self.freeze = False | |
def step(self, action): | |
obs, rews, terminateds, truncateds, infos = self.env.step(action) | |
if self.is_vector_env: | |
obs = self.normalize(obs) | |
else: | |
obs = self.normalize(np.array([obs]))[0] | |
return obs, rews, terminateds, truncateds, infos | |
def reset(self, **kwargs): | |
obs, info = self.env.reset(**kwargs) | |
if self.is_vector_env: | |
return self.normalize(obs), info | |
else: | |
return self.normalize(np.array([obs]))[0], info | |
def normalize(self, obs): | |
if not self.freeze: | |
self.obs_rms.update(obs) | |
if self.enable: | |
return (obs - self.obs_rms.mean.cpu().numpy()) / np.sqrt(self.obs_rms.var.cpu().numpy() + self.epsilon) | |
return obs | |
class NormalizeReward(gym.core.Wrapper, gym.utils.RecordConstructorArgs): | |
def __init__( | |
self, | |
env: gym.Env, | |
gamma: float = 0.99, | |
epsilon: float = 1e-8, | |
): | |
gym.utils.RecordConstructorArgs.__init__(self, gamma=gamma, epsilon=epsilon) | |
gym.Wrapper.__init__(self, env) | |
try: | |
self.num_envs = self.get_wrapper_attr("num_envs") | |
self.is_vector_env = self.get_wrapper_attr("is_vector_env") | |
except AttributeError: | |
self.num_envs = 1 | |
self.is_vector_env = False | |
self.return_rms = RunningMeanStd(shape=()) | |
self.returns = np.zeros(self.num_envs) | |
self.gamma = gamma | |
self.epsilon = epsilon | |
self.enable = True | |
self.freeze = False | |
def step(self, action): | |
obs, rews, terminateds, truncateds, infos = self.env.step(action) | |
if not self.is_vector_env: | |
rews = np.array([rews]) | |
self.returns = self.returns * self.gamma * (1 - terminateds) + rews | |
rews = self.normalize(rews) | |
if not self.is_vector_env: | |
rews = rews[0] | |
return obs, rews, terminateds, truncateds, infos | |
def reset(self, **kwargs): | |
# self.returns = np.zeros(self.num_envs) | |
return self.env.reset(**kwargs) | |
def normalize(self, rews): | |
if not self.freeze: | |
self.return_rms.update(self.returns) | |
if self.enable: | |
return rews / np.sqrt(self.return_rms.var.cpu().numpy() + self.epsilon) | |
return rews | |
def get_returns(self): | |
return self.returns | |
def evaluate( | |
model_path: str, | |
make_env: Callable, | |
env_id: str, | |
eval_episodes: int, | |
run_name: str, | |
Model: torch.nn.Module, | |
device: torch.device = torch.device("cpu"), | |
capture_video: bool = True, | |
): | |
envs = gym.vector.SyncVectorEnv([make_env(env_id, 0, capture_video, run_name)]) | |
agent = Model(envs).to(device) | |
agent.load_state_dict(torch.load(model_path, map_location=device)) | |
agent.eval() | |
envs = gym.vector.SyncVectorEnv([make_env(env_id, 0, capture_video, run_name, agent.obs_rms)]) | |
obs, _ = envs.reset() | |
episodic_returns, episodic_lengths = [], [] | |
while len(episodic_returns) < eval_episodes: | |
actions, _, _, _ = agent.get_action_and_value(torch.Tensor(obs).to(device)) | |
next_obs, _, _, _, infos = envs.step(actions.cpu().numpy()) | |
if "final_info" in infos: | |
for info in infos["final_info"]: | |
if "episode" not in info: | |
continue | |
print(f"eval_episode={len(episodic_returns)}, episodic_return={info['episode']['r']}") | |
episodic_returns += [info["episode"]["r"]] | |
episodic_lengths += [info["episode"]["l"]] | |
obs = next_obs | |
return episodic_returns, episodic_lengths | |
def make_env(env_id, idx, capture_video, run_name, gamma): | |
def thunk(): | |
if capture_video: | |
env = gym.make(env_id, render_mode="rgb_array") | |
else: | |
env = gym.make(env_id) | |
env = gym.wrappers.FlattenObservation(env) # deal with dm_control's Dict observation space | |
env = gym.wrappers.RecordEpisodeStatistics(env) | |
if capture_video: | |
if idx == 0: | |
env = gym.wrappers.RecordVideo(env, f"videos/{run_name}") | |
env = gym.wrappers.ClipAction(env) | |
env = NormalizeObservation(env) | |
env = gym.wrappers.TransformObservation(env, lambda obs: np.clip(obs, -10, 10)) | |
env = NormalizeReward(env, gamma=gamma) | |
env = gym.wrappers.TransformReward(env, lambda reward: np.clip(reward, -10, 10)) | |
return env | |
return thunk | |
def make_eval_env(env_id, idx, capture_video, run_name, obs_rms=None): | |
def thunk(): | |
if capture_video: | |
env = gym.make(env_id, render_mode="rgb_array") | |
else: | |
env = gym.make(env_id) | |
env = gym.wrappers.FlattenObservation(env) # deal with dm_control's Dict observation space | |
env = gym.wrappers.RecordEpisodeStatistics(env) | |
if capture_video: | |
if idx == 0: | |
env = gym.wrappers.RecordVideo(env, f"videos/{run_name}") | |
env = gym.wrappers.ClipAction(env) | |
env = NormalizeObservation(env) | |
if obs_rms is not None: | |
env.obs_rms = copy.deepcopy(obs_rms) | |
env.freeze = True | |
env = gym.wrappers.TransformObservation(env, lambda obs: np.clip(obs, -10, 10)) | |
return env | |
return thunk | |
def get_rms(env): | |
obs_rms, return_rms = None, None | |
env_point = env | |
while hasattr(env_point, "env"): | |
if isinstance(env_point, NormalizeObservation): | |
obs_rms = copy.deepcopy(env_point.obs_rms) | |
break | |
env_point = env_point.env | |
else: | |
raise RuntimeError("can't find NormalizeObservation") | |
env_point = env | |
while hasattr(env_point, "env"): | |
if isinstance(env_point, NormalizeReward): | |
return_rms = copy.deepcopy(env_point.return_rms) | |
break | |
env_point = env_point.env | |
else: | |
raise RuntimeError("can't find NormalizeReward") | |
return obs_rms, return_rms | |
def layer_init(layer, std=np.sqrt(2), bias_const=0.0): | |
torch.nn.init.orthogonal_(layer.weight, std) | |
torch.nn.init.constant_(layer.bias, bias_const) | |
return layer | |
class Agent(nn.Module): | |
def __init__(self, envs): | |
super().__init__() | |
self.critic = nn.Sequential( | |
layer_init(nn.Linear(np.array(envs.single_observation_space.shape).prod(), 64)), | |
nn.Tanh(), | |
layer_init(nn.Linear(64, 64)), | |
nn.Tanh(), | |
layer_init(nn.Linear(64, 1), std=1.0), | |
) | |
self.actor_mean = nn.Sequential( | |
layer_init(nn.Linear(np.array(envs.single_observation_space.shape).prod(), 64)), | |
nn.Tanh(), | |
layer_init(nn.Linear(64, 64)), | |
nn.Tanh(), | |
layer_init(nn.Linear(64, np.prod(envs.single_action_space.shape)), std=0.01), | |
) | |
self.actor_logstd = nn.Parameter(torch.zeros(1, np.prod(envs.single_action_space.shape))) | |
self.obs_rms = RunningMeanStd(shape=envs.single_observation_space.shape) | |
def get_value(self, x): | |
return self.critic(x) | |
def get_action_and_value(self, x, action=None): | |
action_mean = self.actor_mean(x) | |
action_logstd = self.actor_logstd.expand_as(action_mean) | |
action_std = torch.exp(action_logstd) | |
probs = Normal(action_mean, action_std) | |
if action is None: | |
action = probs.sample() | |
return action, probs.log_prob(action).sum(1), probs.entropy().sum(1), self.critic(x) | |
if __name__ == "__main__": | |
args = parse_args() | |
run_name = f"{args.env_id}__{args.exp_name}__{args.seed}__{int(time.time())}" | |
if args.track: | |
import wandb | |
wandb.init( | |
project=args.wandb_project_name, | |
entity=args.wandb_entity, | |
sync_tensorboard=True, | |
config=vars(args), | |
name=run_name, | |
monitor_gym=True, | |
save_code=True, | |
) | |
writer = SummaryWriter(f"runs/{run_name}") | |
writer.add_text( | |
"hyperparameters", | |
"|param|value|\n|-|-|\n%s" % ("\n".join([f"|{key}|{value}|" for key, value in vars(args).items()])), | |
) | |
# TRY NOT TO MODIFY: seeding | |
random.seed(args.seed) | |
np.random.seed(args.seed) | |
torch.manual_seed(args.seed) | |
torch.backends.cudnn.deterministic = args.torch_deterministic | |
device = torch.device("cuda" if torch.cuda.is_available() and args.cuda else "cpu") | |
# env setup | |
envs = gym.vector.SyncVectorEnv( | |
[make_env(args.env_id, i, args.capture_video, run_name, args.gamma) for i in range(args.num_envs)] | |
) | |
assert isinstance(envs.single_action_space, gym.spaces.Box), "only continuous action space is supported" | |
agent = Agent(envs).to(device) | |
optimizer = optim.Adam(agent.parameters(), lr=args.learning_rate, eps=1e-5) | |
# ALGO Logic: Storage setup | |
obs = torch.zeros((args.num_steps, args.num_envs) + envs.single_observation_space.shape).to(device) | |
actions = torch.zeros((args.num_steps, args.num_envs) + envs.single_action_space.shape).to(device) | |
logprobs = torch.zeros((args.num_steps, args.num_envs)).to(device) | |
rewards = torch.zeros((args.num_steps, args.num_envs)).to(device) | |
dones = torch.zeros((args.num_steps, args.num_envs)).to(device) | |
values = torch.zeros((args.num_steps, args.num_envs)).to(device) | |
# TRY NOT TO MODIFY: start the game | |
global_step = 0 | |
start_time = time.time() | |
next_obs, _ = envs.reset(seed=args.seed) | |
next_obs = torch.Tensor(next_obs).to(device) | |
next_done = torch.zeros(args.num_envs).to(device) | |
num_updates = args.total_timesteps // args.batch_size | |
for update in range(1, num_updates + 1): | |
# Annealing the rate if instructed to do so. | |
if args.anneal_lr: | |
frac = 1.0 - (update - 1.0) / num_updates | |
lrnow = frac * args.learning_rate | |
optimizer.param_groups[0]["lr"] = lrnow | |
for step in range(0, args.num_steps): | |
global_step += 1 * args.num_envs | |
obs[step] = next_obs | |
dones[step] = next_done | |
# ALGO LOGIC: action logic | |
with torch.no_grad(): | |
action, logprob, _, value = agent.get_action_and_value(next_obs) | |
values[step] = value.flatten() | |
actions[step] = action | |
logprobs[step] = logprob | |
# TRY NOT TO MODIFY: execute the game and log data. | |
next_obs, reward, terminations, truncations, infos = envs.step(action.cpu().numpy()) | |
done = np.logical_or(terminations, truncations) | |
rewards[step] = torch.tensor(reward).to(device).view(-1) | |
next_obs, next_done = torch.Tensor(next_obs).to(device), torch.Tensor(done).to(device) | |
# https://github.com/DLR-RM/stable-baselines3/pull/658 | |
for idx, trunc in enumerate(truncations): | |
if trunc and not terminations[idx]: | |
real_next_obs = infos["final_observation"][idx] | |
with torch.no_grad(): | |
terminal_value = agent.get_value(torch.Tensor(real_next_obs).to(device)).reshape(1, -1)[0][0] | |
rewards[step][idx] += args.gamma * terminal_value | |
if global_step % (5000 // args.num_envs * args.num_envs) == 0: | |
obs_rms, return_rms = get_rms(envs.envs[0]) | |
agent.obs_rms = copy.deepcopy(get_rms(envs.envs[0])[0]) | |
model_path = f"runs/{run_name}/{args.exp_name}-{global_step}.cleanrl_model" | |
torch.save(agent.state_dict(), model_path) | |
print(f"model saved to {model_path}") | |
episodic_returns, episodic_lengths = evaluate( | |
model_path, | |
make_eval_env, | |
args.env_id, | |
eval_episodes=3, | |
run_name=f"{run_name}-eval", | |
Model=Agent, | |
device=device, | |
capture_video=False, | |
) | |
print(episodic_returns, episodic_lengths) | |
writer.add_scalar("charts/eval/episodic_return", np.mean(episodic_returns), global_step) | |
writer.add_scalar("charts/eval/episodic_length", np.mean(episodic_lengths), global_step) | |
# Only print when at least 1 env is done | |
if "final_info" not in infos: | |
continue | |
for info in infos["final_info"]: | |
# Skip the envs that are not done | |
if info is None: | |
continue | |
print(f"global_step={global_step}, episodic_return={info['episode']['r']}") | |
writer.add_scalar("charts/episodic_return", info["episode"]["r"], global_step) | |
writer.add_scalar("charts/episodic_length", info["episode"]["l"], global_step) | |
# bootstrap value if not done | |
with torch.no_grad(): | |
next_value = agent.get_value(next_obs).reshape(1, -1) | |
advantages = torch.zeros_like(rewards).to(device) | |
lastgaelam = 0 | |
for t in reversed(range(args.num_steps)): | |
if t == args.num_steps - 1: | |
nextnonterminal = 1.0 - next_done | |
nextvalues = next_value | |
else: | |
nextnonterminal = 1.0 - dones[t + 1] | |
nextvalues = values[t + 1] | |
delta = rewards[t] + args.gamma * nextvalues * nextnonterminal - values[t] | |
advantages[t] = lastgaelam = delta + args.gamma * args.gae_lambda * nextnonterminal * lastgaelam | |
returns = advantages + values | |
# flatten the batch | |
b_obs = obs.reshape((-1,) + envs.single_observation_space.shape) | |
b_logprobs = logprobs.reshape(-1) | |
b_actions = actions.reshape((-1,) + envs.single_action_space.shape) | |
b_advantages = advantages.reshape(-1) | |
b_returns = returns.reshape(-1) | |
b_values = values.reshape(-1) | |
# Optimizing the policy and value network | |
b_inds = np.arange(args.batch_size) | |
clipfracs = [] | |
for epoch in range(args.update_epochs): | |
np.random.shuffle(b_inds) | |
for start in range(0, args.batch_size, args.minibatch_size): | |
end = start + args.minibatch_size | |
mb_inds = b_inds[start:end] | |
_, newlogprob, entropy, newvalue = agent.get_action_and_value(b_obs[mb_inds], b_actions[mb_inds]) | |
logratio = newlogprob - b_logprobs[mb_inds] | |
ratio = logratio.exp() | |
with torch.no_grad(): | |
# calculate approx_kl http://joschu.net/blog/kl-approx.html | |
old_approx_kl = (-logratio).mean() | |
approx_kl = ((ratio - 1) - logratio).mean() | |
clipfracs += [((ratio - 1.0).abs() > args.clip_coef).float().mean().item()] | |
mb_advantages = b_advantages[mb_inds] | |
if args.norm_adv: | |
mb_advantages = (mb_advantages - mb_advantages.mean()) / (mb_advantages.std() + 1e-8) | |
# Policy loss | |
pg_loss1 = -mb_advantages * ratio | |
pg_loss2 = -mb_advantages * torch.clamp(ratio, 1 - args.clip_coef, 1 + args.clip_coef) | |
pg_loss = torch.max(pg_loss1, pg_loss2).mean() | |
# Value loss | |
newvalue = newvalue.view(-1) | |
if args.clip_vloss: | |
v_loss_unclipped = (newvalue - b_returns[mb_inds]) ** 2 | |
v_clipped = b_values[mb_inds] + torch.clamp( | |
newvalue - b_values[mb_inds], | |
-args.clip_coef, | |
args.clip_coef, | |
) | |
v_loss_clipped = (v_clipped - b_returns[mb_inds]) ** 2 | |
v_loss_max = torch.max(v_loss_unclipped, v_loss_clipped) | |
v_loss = 0.5 * v_loss_max.mean() | |
else: | |
v_loss = 0.5 * ((newvalue - b_returns[mb_inds]) ** 2).mean() | |
entropy_loss = entropy.mean() | |
loss = pg_loss - args.ent_coef * entropy_loss + v_loss * args.vf_coef | |
optimizer.zero_grad() | |
loss.backward() | |
nn.utils.clip_grad_norm_(agent.parameters(), args.max_grad_norm) | |
optimizer.step() | |
if args.target_kl is not None: | |
if approx_kl > args.target_kl: | |
break | |
y_pred, y_true = b_values.cpu().numpy(), b_returns.cpu().numpy() | |
var_y = np.var(y_true) | |
explained_var = np.nan if var_y == 0 else 1 - np.var(y_true - y_pred) / var_y | |
# TRY NOT TO MODIFY: record rewards for plotting purposes | |
writer.add_scalar("charts/learning_rate", optimizer.param_groups[0]["lr"], global_step) | |
writer.add_scalar("losses/value_loss", v_loss.item(), global_step) | |
writer.add_scalar("losses/policy_loss", pg_loss.item(), global_step) | |
writer.add_scalar("losses/entropy", entropy_loss.item(), global_step) | |
writer.add_scalar("losses/old_approx_kl", old_approx_kl.item(), global_step) | |
writer.add_scalar("losses/approx_kl", approx_kl.item(), global_step) | |
writer.add_scalar("losses/clipfrac", np.mean(clipfracs), global_step) | |
writer.add_scalar("losses/explained_variance", explained_var, global_step) | |
print("SPS:", int(global_step / (time.time() - start_time))) | |
writer.add_scalar("charts/SPS", int(global_step / (time.time() - start_time)), global_step) | |
if args.save_model: | |
agent.obs_rms = copy.deepcopy(get_rms(envs.envs[0])[0]) | |
model_path = f"runs/{run_name}/{args.exp_name}.cleanrl_model" | |
torch.save(agent.state_dict(), model_path) | |
print(f"model saved to {model_path}") | |
episodic_returns, episodic_lengths = evaluate( | |
model_path, | |
make_eval_env, | |
args.env_id, | |
eval_episodes=10, | |
run_name=f"{run_name}-eval", | |
Model=Agent, | |
device=device, | |
) | |
for idx, episodic_return in enumerate(episodic_returns): | |
writer.add_scalar("eval/episodic_return", episodic_return, idx) | |
if args.upload_model: | |
from cleanrl_utils.huggingface import push_to_hub | |
repo_name = f"{args.env_id}-{args.exp_name}-seed{args.seed}" | |
repo_id = f"{args.hf_entity}/{repo_name}" if args.hf_entity else repo_name | |
push_to_hub(args, episodic_returns, repo_id, "PPO", f"runs/{run_name}", f"videos/{run_name}-eval") | |
envs.close() | |
writer.close() |
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