Initial commit

.gitattributes

@@ -32,3 +32,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.zip filter=lfs diff=lfs merge=lfs -text
 *.zst filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
+*.mp4 filter=lfs diff=lfs merge=lfs -text

README.md

@@ -0,0 +1,84 @@
+---
+library_name: stable-baselines3
+tags:
+- PandaPush-v1
+- deep-reinforcement-learning
+- reinforcement-learning
+- stable-baselines3
+model-index:
+- name: TQC
+  results:
+  - task:
+      type: reinforcement-learning
+      name: reinforcement-learning
+    dataset:
+      name: PandaPush-v1
+      type: PandaPush-v1
+    metrics:
+    - type: mean_reward
+      value: -50.00 +/- 0.00
+      name: mean_reward
+      verified: false
+---
+
+# **TQC** Agent playing **PandaPush-v1**
+This is a trained model of a **TQC** agent playing **PandaPush-v1**
+using the [stable-baselines3 library](https://github.com/DLR-RM/stable-baselines3)
+and the [RL Zoo](https://github.com/DLR-RM/rl-baselines3-zoo).
+
+The RL Zoo is a training framework for Stable Baselines3
+reinforcement learning agents,
+with hyperparameter optimization and pre-trained agents included.
+
+## Usage (with SB3 RL Zoo)
+
+RL Zoo: https://github.com/DLR-RM/rl-baselines3-zoo<br/>
+SB3: https://github.com/DLR-RM/stable-baselines3<br/>
+SB3 Contrib: https://github.com/Stable-Baselines-Team/stable-baselines3-contrib
+
+Install the RL Zoo (with SB3 and SB3-Contrib):
+```bash
+pip install rl_zoo3
+```
+
+```
+# Download model and save it into the logs/ folder
+python -m rl_zoo3.load_from_hub --algo tqc --env PandaPush-v1 -orga qgallouedec -f logs/
+python -m rl_zoo3.enjoy --algo tqc --env PandaPush-v1  -f logs/
+```
+
+If you installed the RL Zoo3 via pip (`pip install rl_zoo3`), from anywhere you can do:
+```
+python -m rl_zoo3.load_from_hub --algo tqc --env PandaPush-v1 -orga qgallouedec -f logs/
+python -m rl_zoo3.enjoy --algo tqc --env PandaPush-v1  -f logs/
+```
+
+## Training (with the RL Zoo)
+```
+python -m rl_zoo3.train --algo tqc --env PandaPush-v1 -f logs/
+# Upload the model and generate video (when possible)
+python -m rl_zoo3.push_to_hub --algo tqc --env PandaPush-v1 -f logs/ -orga qgallouedec
+```
+
+## Hyperparameters
+```python
+OrderedDict([('batch_size', 2048),
+             ('buffer_size', 1000000),
+             ('env_wrapper', 'sb3_contrib.common.wrappers.TimeFeatureWrapper'),
+             ('gamma', 0.95),
+             ('learning_rate', 0.001),
+             ('n_timesteps', 1000000.0),
+             ('policy', 'MultiInputPolicy'),
+             ('policy_kwargs', 'dict(net_arch=[512, 512, 512], n_critics=2)'),
+             ('replay_buffer_class', 'HerReplayBuffer'),
+             ('replay_buffer_kwargs',
+              "dict( online_sampling=True, goal_selection_strategy='future', "
+              'n_sampled_goal=4, )'),
+             ('tau', 0.05),
+             ('normalize', False)])
+```
+
+# Environment Arguments
+```python
+{'render': True}
+```

args.yml

@@ -0,0 +1,79 @@
+!!python/object/apply:collections.OrderedDict
+- - - algo
+    - tqc
+  - - device
+    - auto
+  - - env
+    - PandaPush-v1
+  - - env_kwargs
+    - null
+  - - eval_episodes
+    - 5
+  - - eval_freq
+    - 25000
+  - - gym_packages
+    - []
+  - - hyperparams
+    - null
+  - - log_folder
+    - logs
+  - - log_interval
+    - -1
+  - - max_total_trials
+    - null
+  - - n_eval_envs
+    - 1
+  - - n_evaluations
+    - null
+  - - n_jobs
+    - 1
+  - - n_startup_trials
+    - 10
+  - - n_timesteps
+    - 500000
+  - - n_trials
+    - 500
+  - - no_optim_plots
+    - false
+  - - num_threads
+    - -1
+  - - optimization_log_path
+    - null
+  - - optimize_hyperparameters
+    - false
+  - - progress
+    - false
+  - - pruner
+    - median
+  - - sampler
+    - tpe
+  - - save_freq
+    - -1
+  - - save_replay_buffer
+    - false
+  - - seed
+    - 2092224131
+  - - storage
+    - null
+  - - study_name
+    - null
+  - - tensorboard_log
+    - runs/PandaPush-v1__tqc__2092224131__1670493704
+  - - track
+    - true
+  - - trained_agent
+    - ''
+  - - truncate_last_trajectory
+    - true
+  - - uuid
+    - false
+  - - vec_env
+    - dummy
+  - - verbose
+    - 1
+  - - wandb_entity
+    - null
+  - - wandb_project_name
+    - panda
+  - - yaml_file
+    - null

config.yml

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+!!python/object/apply:collections.OrderedDict
+- - - batch_size
+    - 2048
+  - - buffer_size
+    - 1000000
+  - - env_wrapper
+    - sb3_contrib.common.wrappers.TimeFeatureWrapper
+  - - gamma
+    - 0.95
+  - - learning_rate
+    - 0.001
+  - - n_timesteps
+    - 1000000.0
+  - - policy
+    - MultiInputPolicy
+  - - policy_kwargs
+    - dict(net_arch=[512, 512, 512], n_critics=2)
+  - - replay_buffer_class
+    - HerReplayBuffer
+  - - replay_buffer_kwargs
+    - dict( online_sampling=True, goal_selection_strategy='future', n_sampled_goal=4,
+      )
+  - - tau
+    - 0.05

env_kwargs.yml

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+render: true

replay.mp4

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results.json

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+{"mean_reward": -50.0, "std_reward": 0.0, "is_deterministic": true, "n_eval_episodes": 10, "eval_datetime": "2023-02-27T17:03:37.412717"}

tqc-PandaPush-v1.zip

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tqc-PandaPush-v1/_stable_baselines3_version

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tqc-PandaPush-v1/actor.optimizer.pth

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tqc-PandaPush-v1/critic.optimizer.pth

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tqc-PandaPush-v1/data

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+    "batch_size": 2048,
+    "learning_starts": 100,
+    "tau": 0.05,
+    "gamma": 0.95,
+    "gradient_steps": 1,
+    "optimize_memory_usage": false,
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+        ":serialized:": "gAWVPwAAAAAAAACMJ3N0YWJsZV9iYXNlbGluZXMzLmhlci5oZXJfcmVwbGF5X2J1ZmZlcpSMD0hlclJlcGxheUJ1ZmZlcpSTlC4=",
+        "__module__": "stable_baselines3.her.her_replay_buffer",
+        "__doc__": "\n    Hindsight Experience Replay (HER) buffer.\n    Paper: https://arxiv.org/abs/1707.01495\n\n    .. warning::\n\n      For performance reasons, the maximum number of steps per episodes must be specified.\n      In most cases, it will be inferred if you specify ``max_episode_steps`` when registering the environment\n      or if you use a ``gym.wrappers.TimeLimit`` (and ``env.spec`` is not None).\n      Otherwise, you can directly pass ``max_episode_length`` to the replay buffer constructor.\n\n\n    Replay buffer for sampling HER (Hindsight Experience Replay) transitions.\n    In the online sampling case, these new transitions will not be saved in the replay buffer\n    and will only be created at sampling time.\n\n    :param env: The training environment\n    :param buffer_size: The size of the buffer measured in transitions.\n    :param max_episode_length: The maximum length of an episode. If not specified,\n        it will be automatically inferred if the environment uses a ``gym.wrappers.TimeLimit`` wrapper.\n    :param goal_selection_strategy: Strategy for sampling goals for replay.\n        One of ['episode', 'final', 'future']\n    :param device: PyTorch device\n    :param n_sampled_goal: Number of virtual transitions to create per real transition,\n        by sampling new goals.\n    :param handle_timeout_termination: Handle timeout termination (due to timelimit)\n        separately and treat the task as infinite horizon task.\n        https://github.com/DLR-RM/stable-baselines3/issues/284\n    ",
+        "__init__": "<function HerReplayBuffer.__init__ at 0x7fa110f76af0>",
+        "__getstate__": "<function HerReplayBuffer.__getstate__ at 0x7fa110f76b80>",
+        "__setstate__": "<function HerReplayBuffer.__setstate__ at 0x7fa110f76c10>",
+        "set_env": "<function HerReplayBuffer.set_env at 0x7fa110f76ca0>",
+        "_get_samples": "<function HerReplayBuffer._get_samples at 0x7fa110f76d30>",
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+        "sample_goals": "<function HerReplayBuffer.sample_goals at 0x7fa110f76ee0>",
+        "_sample_transitions": "<function HerReplayBuffer._sample_transitions at 0x7fa110f76f70>",
+        "add": "<function HerReplayBuffer.add at 0x7fa110f06040>",
+        "store_episode": "<function HerReplayBuffer.store_episode at 0x7fa110f060d0>",
+        "_sample_her_transitions": "<function HerReplayBuffer._sample_her_transitions at 0x7fa110f06160>",
+        "n_episodes_stored": "<property object at 0x7fa110f82ef0>",
+        "size": "<function HerReplayBuffer.size at 0x7fa110f06280>",
+        "reset": "<function HerReplayBuffer.reset at 0x7fa110f06310>",
+        "truncate_last_trajectory": "<function HerReplayBuffer.truncate_last_trajectory at 0x7fa110f063a0>",
+        "__abstractmethods__": "frozenset()",
+        "_abc_impl": "<_abc._abc_data object at 0x7fa110f05a00>"
+    },
+    "replay_buffer_kwargs": {
+        "online_sampling": true,
+        "goal_selection_strategy": "future",
+        "n_sampled_goal": 4
+    },
+    "train_freq": {
+        ":type:": "<class 'stable_baselines3.common.type_aliases.TrainFreq'>",
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+    },
+    "use_sde_at_warmup": false,
+    "target_entropy": -3.0,
+    "ent_coef": "auto",
+    "target_update_interval": 1,
+    "top_quantiles_to_drop_per_net": 2,
+    "batch_norm_stats": [],
+    "batch_norm_stats_target": []
+}

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+- OS: Linux-5.19.0-32-generic-x86_64-with-glibc2.35 # 33~22.04.1-Ubuntu SMP PREEMPT_DYNAMIC Mon Jan 30 17:03:34 UTC 2
+- Python: 3.9.12
+- Stable-Baselines3: 1.8.0a6
+- PyTorch: 1.13.1+cu117
+- GPU Enabled: True
+- Numpy: 1.24.1
+- Gym: 0.21.0

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