{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {
    "ExecuteTime": {
     "end_time": "2018-01-19T02:03:04.176331Z",
     "start_time": "2018-01-19T02:03:04.170597Z"
    },
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "import os\n",
    "os.environ['CUDA_VISIBLE_DEVICES']=\"\"\n",
    "os.environ[\"PYTHONPATH\"]='.'"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {
    "ExecuteTime": {
     "end_time": "2018-01-19T02:03:04.586375Z",
     "start_time": "2018-01-19T02:03:04.178204Z"
    }
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Populating the interactive namespace from numpy and matplotlib\n"
     ]
    }
   ],
   "source": [
    "%pylab --no-import-all inline\n",
    "%reload_ext autoreload\n",
    "%autoreload 2"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {
    "ExecuteTime": {
     "end_time": "2018-01-19T02:03:04.627472Z",
     "start_time": "2018-01-19T02:03:04.587944Z"
    },
    "scrolled": true
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "['ddpg/train.py',\n",
       " '--logdir',\n",
       " './outputs/logs_ddpg2',\n",
       " '--num-threads',\n",
       " '3',\n",
       " '--reward-scale',\n",
       " '0.001',\n",
       " '--actor-layers',\n",
       " '64-64-64',\n",
       " '--actor-layer-norm',\n",
       " '--actor-parameters-noise',\n",
       " '--actor-lr',\n",
       " '0.001',\n",
       " '--actor-lr-end',\n",
       " '0.000001',\n",
       " '--dynamics-lr',\n",
       " '0.0001',\n",
       " '--dynamics-lr-end',\n",
       " '0.0000001',\n",
       " '--critic-layers',\n",
       " '64-32',\n",
       " '--critic-layer-norm',\n",
       " '--critic-lr',\n",
       " '0.002',\n",
       " '--critic-lr-end',\n",
       " '0.000001',\n",
       " '--initial-epsilon',\n",
       " '0.5',\n",
       " '--final-epsilon',\n",
       " '0.001',\n",
       " '--tau',\n",
       " '0.0001']"
      ]
     },
     "execution_count": 3,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "os.sys.argv=\"ddpg/train.py --logdir ./outputs/logs_ddpg2 \\\n",
    "--num-threads 3 --num-train-threads 3 \\\n",
    "--reward-scale 0.001 \\\n",
    "--actor-layers 64-64-64 --actor-layer-norm --actor-parameters-noise --actor-lr 0.001 --actor-lr-end 0.000001 \\\n",
    "--dynamics-lr 0.0001 --dynamics-lr-end 0.0000001 \\\n",
    "--critic-layers 64-32 --critic-layer-norm --critic-lr 0.002 --critic-lr-end 0.000001 \\\n",
    "--initial-epsilon 0.5 --final-epsilon 0.001 --tau 0.0001\".split(\" \")\n",
    "os.sys.argv"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "ExecuteTime": {
     "start_time": "2018-01-19T02:03:03.852Z"
    },
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "from ddpg.train import *"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "ExecuteTime": {
     "start_time": "2018-01-19T02:03:03.855Z"
    },
    "scrolled": true
   },
   "outputs": [
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "[2018-01-19 10:03:05,421] Making new env: Pendulum-v0\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Base (\n",
      "  (feature_net): LinearNet (\n",
      "    (net): Sequential (\n",
      "      (linear_0): NoisyLinear (3 -> 64)\n",
      "      (layer_norm_0): LayerNorm (\n",
      "      )\n",
      "      (act_0): ReLU ()\n",
      "      (linear_1): NoisyLinear (64 -> 64)\n",
      "      (layer_norm_1): LayerNorm (\n",
      "      )\n",
      "      (act_1): ReLU ()\n",
      "      (linear_2): NoisyLinear (64 -> 64)\n",
      "      (layer_norm_2): LayerNorm (\n",
      "      )\n",
      "      (act_2): ReLU ()\n",
      "    )\n",
      "  )\n",
      ")\n",
      "ActorHead (\n",
      "  (base): Base (\n",
      "    (feature_net): LinearNet (\n",
      "      (net): Sequential (\n",
      "        (linear_0): NoisyLinear (3 -> 64)\n",
      "        (layer_norm_0): LayerNorm (\n",
      "        )\n",
      "        (act_0): ReLU ()\n",
      "        (linear_1): NoisyLinear (64 -> 64)\n",
      "        (layer_norm_1): LayerNorm (\n",
      "        )\n",
      "        (act_1): ReLU ()\n",
      "        (linear_2): NoisyLinear (64 -> 64)\n",
      "        (layer_norm_2): LayerNorm (\n",
      "        )\n",
      "        (act_2): ReLU ()\n",
      "      )\n",
      "    )\n",
      "  )\n",
      "  (policy_net): LinearNet (\n",
      "    (net): Sequential (\n",
      "      (linear_0): Linear (64 -> 1)\n",
      "      (act_0): ELU (alpha=1.0)\n",
      "    )\n",
      "  )\n",
      ")\n",
      "CriticHead (\n",
      "  (base): Base (\n",
      "    (feature_net): LinearNet (\n",
      "      (net): Sequential (\n",
      "        (linear_0): NoisyLinear (3 -> 64)\n",
      "        (layer_norm_0): LayerNorm (\n",
      "        )\n",
      "        (act_0): ReLU ()\n",
      "        (linear_1): NoisyLinear (64 -> 64)\n",
      "        (layer_norm_1): LayerNorm (\n",
      "        )\n",
      "        (act_1): ReLU ()\n",
      "        (linear_2): NoisyLinear (64 -> 64)\n",
      "        (layer_norm_2): LayerNorm (\n",
      "        )\n",
      "        (act_2): ReLU ()\n",
      "      )\n",
      "    )\n",
      "  )\n",
      "  (value_net): Linear (64 -> 1)\n",
      ")\n",
      "DynamicsHead (\n",
      "  (base): Base (\n",
      "    (feature_net): LinearNet (\n",
      "      (net): Sequential (\n",
      "        (linear_0): NoisyLinear (3 -> 64)\n",
      "        (layer_norm_0): LayerNorm (\n",
      "        )\n",
      "        (act_0): ReLU ()\n",
      "        (linear_1): NoisyLinear (64 -> 64)\n",
      "        (layer_norm_1): LayerNorm (\n",
      "        )\n",
      "        (act_1): ReLU ()\n",
      "        (linear_2): NoisyLinear (64 -> 64)\n",
      "        (layer_norm_2): LayerNorm (\n",
      "        )\n",
      "        (act_2): ReLU ()\n",
      "      )\n",
      "    )\n",
      "  )\n",
      "  (value_net): LinearNet (\n",
      "    (net): Sequential (\n",
      "      (linear_0): Linear (65 -> 64)\n",
      "      (layer_norm_0): LayerNorm (\n",
      "      )\n",
      "      (act_0): ReLU ()\n",
      "    )\n",
      "  )\n",
      "  (value_net2): Linear (64 -> 3)\n",
      ")\n"
     ]
    },
    {
     "name": "stderr",
     "output_type": "stream",
     "text": [
      "[2018-01-19 10:03:05,570] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:03:05,589] Making new env: Pendulum-v0\n",
      "Process Process-1:\n",
      "Traceback (most recent call last):\n",
      "  File \"/home/isisilon/.pyenv/versions/3.6.0/lib/python3.6/multiprocessing/process.py\", line 249, in _bootstrap\n",
      "    self.run()\n",
      "  File \"/home/isisilon/.pyenv/versions/3.6.0/lib/python3.6/multiprocessing/process.py\", line 93, in run\n",
      "    self._target(*self._args, **self._kwargs)\n",
      "  File \"/media/isisilon/Data/My_Documents/Documents/eclipse-workspace/ddpg_implicit_state/Run-Skeleton-Run/ddpg/model.py\", line 440, in train_single_thread\n",
      "    logger.scalar_summary(key, value, update_step)\n",
      "  File \"/media/isisilon/Data/My_Documents/Documents/eclipse-workspace/ddpg_implicit_state/Run-Skeleton-Run/common/logger.py\", line 17, in scalar_summary\n",
      "    self.writer.add_scalar(tag, value, step)\n",
      "  File \"/home/isisilon/.pyenv/versions/3.6.0/envs/jupyter3/lib/python3.6/site-packages/tensorboardX/writer.py\", line 262, in add_scalar\n",
      "    self.file_writer.add_summary(scalar(tag, scalar_value), global_step)\n",
      "  File \"/home/isisilon/.pyenv/versions/3.6.0/envs/jupyter3/lib/python3.6/site-packages/tensorboardX/summary.py\", line 88, in scalar\n",
      "    assert(scalar.squeeze().ndim==0), 'scalar should be 0D'\n",
      "AttributeError: 'NoneType' object has no attribute 'squeeze'\n",
      "[2018-01-19 10:04:01,980] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:04:05,897] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:04:56,915] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:04:59,842] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:05:51,136] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:05:54,795] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:06:58,471] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:07:01,303] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:08:06,776] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:08:11,823] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:09:24,555] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:09:28,326] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:10:25,677] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:10:28,134] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:11:21,746] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:11:22,767] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:12:19,668] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:12:20,498] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:13:16,087] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:13:19,701] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:14:20,287] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:14:25,255] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:15:25,534] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:15:30,307] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:16:24,529] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:16:27,554] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:17:23,602] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:17:24,952] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:18:19,517] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:18:21,783] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:19:17,384] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:19:19,827] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:20:15,270] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:20:15,364] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:21:09,305] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:21:12,535] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:22:03,694] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:22:05,211] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:22:59,166] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:23:03,510] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:23:52,806] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:23:58,895] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:24:44,687] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:24:52,964] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:25:37,681] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:25:51,033] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:26:34,755] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:26:45,860] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:27:27,254] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:27:44,223] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:28:25,083] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:28:40,452] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:29:21,854] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:29:40,183] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:30:20,224] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:30:43,777] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:31:21,376] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:31:43,822] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:32:19,617] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:32:42,093] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:33:13,267] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:33:38,685] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:34:08,173] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:34:36,100] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:35:03,554] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:35:31,869] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:36:02,086] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:36:30,077] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:37:04,189] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:37:33,748] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:38:03,424] Making new env: Pendulum-v0\n",
      "[2018-01-19 10:38:35,036] Making new env: Pendulum-v0\n"
     ]
    }
   ],
   "source": [
    "os.environ['OMP_NUM_THREADS'] = '3'\n",
    "torch.set_num_threads(1)\n",
    "args = parse_args()\n",
    "train(args,\n",
    "      create_model,\n",
    "      create_act_update_fns,\n",
    "      train_multi_thread,\n",
    "      train_single_thread,\n",
    "      play_single_thread)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "ExecuteTime": {
     "end_time": "2018-01-19T02:01:33.149379Z",
     "start_time": "2018-01-19T02:01:30.923966Z"
    }
   },
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "ExecuteTime": {
     "start_time": "2018-01-18T08:39:00.929Z"
    },
    "collapsed": true
   },
   "outputs": [],
   "source": []
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": []
  }
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