wehub-resource-sync
123 lines
4.2 KiB
Python
123 lines
4.2 KiB
Python
"""Example showing how to train TQC on the Humanoid-v4 MuJoCo environment.
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TQC (Truncated Quantile Critics) is an extension of SAC that uses distributional
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critics with quantile regression. By truncating the upper quantiles when computing
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target values, TQC reduces overestimation bias that can plague actor-critic methods,
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leading to more stable and efficient learning on complex continuous control tasks.
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This example:
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- Trains on Humanoid-v4, a challenging 17-DoF locomotion task
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- Uses truncated quantile critics with 25 quantiles and 2 critics
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- Drops the top 2 quantiles per network to reduce overestimation bias
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- Employs prioritized experience replay with capacity of 1M transitions
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- Uses a large network architecture (1024x1024) suitable for high-dimensional control
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- Applies mixed n-step returns (1 to 3 steps) for variance reduction
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- Expects to achieve episode returns >12000 with sufficient training
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How to run this script
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----------------------
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`python humanoid_tqc.py --num-env-runners=4`
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For faster training, use GPU acceleration and more parallelism:
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`python humanoid_tqc.py --num-learners=1 --num-gpus-per-learner=1 --num-env-runners=8`
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To scale up with distributed learning using multiple learners and env-runners:
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`python humanoid_tqc.py --num-learners=2 --num-env-runners=16`
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For debugging, use the following additional command line options
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`--no-tune --num-env-runners=0`
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which should allow you to set breakpoints anywhere in the RLlib code and
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have the execution stop there for inspection and debugging.
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For logging to your WandB account, use:
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`--wandb-key=[your WandB API key] --wandb-project=[some project name]
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--wandb-run-name=[optional: WandB run name (within the defined project)]`
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Results to expect
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-----------------
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On a single-GPU machine with --num-gpus-per-learner=1, this example should learn
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an episode return of >1000 within approximately 10 hours. With more hyperparameter
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tuning, longer runs, and additional scale, returns of >12000 are achievable.
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"""
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from torch import nn
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from ray.rllib.algorithms.tqc.tqc import TQCConfig
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from ray.rllib.core.rl_module.default_model_config import DefaultModelConfig
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from ray.rllib.examples.utils import (
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add_rllib_example_script_args,
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run_rllib_example_script_experiment,
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)
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parser = add_rllib_example_script_args(
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default_timesteps=1_000_000,
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default_reward=12_000.0,
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default_iters=2_000,
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)
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parser.set_defaults(
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num_env_runners=4,
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num_envs_per_env_runner=8,
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num_learners=1,
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)
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# Use `parser` to add your own custom command line options to this script
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# and (if needed) use their values to set up `config` below.
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args = parser.parse_args()
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config = (
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TQCConfig()
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.environment("Humanoid-v4")
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.env_runners(
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num_env_runners=args.num_env_runners,
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num_envs_per_env_runner=args.num_envs_per_env_runner,
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)
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.learners(
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num_learners=args.num_learners,
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num_gpus_per_learner=1,
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num_aggregator_actors_per_learner=2,
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)
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.training(
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initial_alpha=1.001,
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actor_lr=0.00005,
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critic_lr=0.00005,
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alpha_lr=0.00005,
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target_entropy="auto",
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n_step=(1, 3),
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tau=0.005,
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train_batch_size_per_learner=256,
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target_network_update_freq=1,
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# TQC-specific parameters
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n_quantiles=25,
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n_critics=2,
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top_quantiles_to_drop_per_net=2,
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replay_buffer_config={
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"type": "PrioritizedEpisodeReplayBuffer",
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"capacity": 1000000,
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"alpha": 0.6,
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"beta": 0.4,
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},
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num_steps_sampled_before_learning_starts=10000,
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)
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.rl_module(
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model_config=DefaultModelConfig(
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fcnet_hiddens=[1024, 1024],
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fcnet_activation="relu",
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fcnet_kernel_initializer=nn.init.xavier_uniform_,
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head_fcnet_hiddens=[],
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head_fcnet_activation=None,
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head_fcnet_kernel_initializer="orthogonal_",
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head_fcnet_kernel_initializer_kwargs={"gain": 0.01},
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fusionnet_hiddens=[256, 256, 256],
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fusionnet_activation="relu",
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)
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)
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.reporting(
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metrics_num_episodes_for_smoothing=5,
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min_sample_timesteps_per_iteration=1000,
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)
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)
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if __name__ == "__main__":
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run_rllib_example_script_experiment(config, args)
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