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# docs and experiment results can be found at https://docs.cleanrl.dev/rl-algorithms/dqn/#dqn_ataripy
import argparse
import os
import random
import time
from distutils.util import strtobool
import gym
import numpy as np
import torch
import torch.nn as nn
import torch.nn.functional as F
import torch.optim as optim
from stable_baselines3.common.atari_wrappers import (
ClipRewardEnv,
EpisodicLifeEnv,
FireResetEnv,
MaxAndSkipEnv,
NoopResetEnv,
)
from stable_baselines3.common.buffers import ReplayBuffer
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=True, nargs="?", const=True,
help="whether to upload the saved model to huggingface")
parser.add_argument("--hf-entity", type=str, default="mallycrip",
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="BreakoutNoFrameskip-v4",
help="the id of the environment")
parser.add_argument("--total-timesteps", type=int, default=10000000,
help="total timesteps of the experiments")
parser.add_argument("--learning-rate", type=float, default=1e-4,
help="the learning rate of the optimizer")
parser.add_argument("--buffer-size", type=int, default=100000,
help="the replay memory buffer size")
parser.add_argument("--gamma", type=float, default=0.99,
help="the discount factor gamma")
parser.add_argument("--tau", type=float, default=1.,
help="the target network update rate")
parser.add_argument("--target-network-frequency", type=int, default=1000,
help="the timesteps it takes to update the target network")
parser.add_argument("--batch-size", type=int, default=32,
help="the batch size of sample from the reply memory")
parser.add_argument("--start-e", type=float, default=1,
help="the starting epsilon for exploration")
parser.add_argument("--end-e", type=float, default=0.01,
help="the ending epsilon for exploration")
parser.add_argument("--exploration-fraction", type=float, default=0.10,
help="the fraction of `total-timesteps` it takes from start-e to go end-e")
parser.add_argument("--learning-starts", type=int, default=80000,
help="timestep to start learning")
parser.add_argument("--train-frequency", type=int, default=4,
help="the frequency of training")
args = parser.parse_args()
# fmt: on
return args
def make_env(env_id, seed, idx, capture_video, run_name):
def thunk():
env = gym.make(env_id)
env = gym.wrappers.RecordEpisodeStatistics(env)
if capture_video:
if idx == 0:
env = gym.wrappers.RecordVideo(env, f"videos/{run_name}")
env = NoopResetEnv(env, noop_max=30)
env = MaxAndSkipEnv(env, skip=4)
env = EpisodicLifeEnv(env)
if "FIRE" in env.unwrapped.get_action_meanings():
env = FireResetEnv(env)
env = ClipRewardEnv(env)
env = gym.wrappers.ResizeObservation(env, (84, 84))
env = gym.wrappers.GrayScaleObservation(env)
env = gym.wrappers.FrameStack(env, 4)
env.seed(seed)
env.action_space.seed(seed)
env.observation_space.seed(seed)
return env
return thunk
# ALGO LOGIC: initialize agent here:
class QNetwork(nn.Module):
def __init__(self, env):
super().__init__()
self.network = nn.Sequential(
nn.Conv2d(4, 32, 8, stride=4),
nn.ReLU(),
nn.Conv2d(32, 64, 4, stride=2),
nn.ReLU(),
nn.Conv2d(64, 64, 3, stride=1),
nn.ReLU(),
nn.Flatten(),
nn.Linear(3136, 512),
nn.ReLU(),
nn.Linear(512, env.single_action_space.n),
)
def forward(self, x):
return self.network(x / 255.0)
def linear_schedule(start_e: float, end_e: float, duration: int, t: int):
slope = (end_e - start_e) / duration
return max(slope * t + start_e, end_e)
if __name__ == "__main__":
args = parse_args()
run_name = f"{args.env_id}__{args.exp_name}__{args.seed}__{int(time.time())}"
run_name = f"SpaceInvadersNoFrameskip-v4__dqn_atari__1__1675730632"
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, args.seed, 0, args.capture_video, run_name)])
assert isinstance(envs.single_action_space, gym.spaces.Discrete), "only discrete action space is supported"
q_network = QNetwork(envs).to(device)
optimizer = optim.Adam(q_network.parameters(), lr=args.learning_rate)
target_network = QNetwork(envs).to(device)
target_network.load_state_dict(q_network.state_dict())
rb = ReplayBuffer(
args.buffer_size,
envs.single_observation_space,
envs.single_action_space,
device,
optimize_memory_usage=True,
handle_timeout_termination=True,
)
model_path = f"../runs/{run_name}/dqn_atari.cleanrl_model"
print(f"model saved to {model_path}")
from evals.dqn_eval import evaluate
episodic_returns = evaluate(
model_path,
make_env,
args.env_id,
eval_episodes=10,
run_name=f"{run_name}-eval",
Model=QNetwork,
device=device,
epsilon=0.05,
)
for idx, episodic_return in enumerate(episodic_returns):
writer.add_scalar("eval/episodic_return", episodic_return, idx)
if args.upload_model:
from huggingface import push_to_hub
repo_name = f"{args.env_id}-{args.exp_name}-2"
repo_id = f"{args.hf_entity}/{repo_name}" if args.hf_entity else repo_name
push_to_hub(args, episodic_returns, repo_id, "DQN", f"runs/{run_name}", f"videos/{run_name}-eval")
envs.close()
writer.close()
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