mirror of
https://github.com/wassname/pytorch-soft-actor-critic.git
synced 2026-06-27 16:31:16 +08:00
Pranjal Tandon
86 lines
3.5 KiB
Python
86 lines
3.5 KiB
Python
import argparse
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import math
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import gym
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import numpy as np
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from gym import wrappers
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import torch
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from sac import SAC
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from plot import plot_line
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from normalized_actions import NormalizedActions
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from replay_memory import ReplayMemory
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parser = argparse.ArgumentParser(description='PyTorch REINFORCE example')
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parser.add_argument('--algo', default='SAC(GMM)',
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help='algorithm to use: SAC | SAC(GMM)')
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parser.add_argument('--env-name', default="HalfCheetah-v2",
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help='name of the environment to run')
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parser.add_argument('--reparam', type=bool, default=True,
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help='reparameterize the policy (default:True)')
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parser.add_argument('--gamma', type=float, default=0.99, metavar='G',
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help='discount factor for reward (default: 0.99)')
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parser.add_argument('--tau', type=float, default=0.005, metavar='G',
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help='target smoothing coefficient(τ) (default: 0.005)')
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parser.add_argument('--k', type=int, default=4, metavar='G',
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help='No. of Mixtures (default: 4)')
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parser.add_argument('--scale_R', type=int, default=5, metavar='G',
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help='reward scaling (default: 5)')
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parser.add_argument('--seed', type=int, default=543, metavar='N',
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help='random seed (default: 543)')
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parser.add_argument('--batch_size', type=int, default=256, metavar='N',
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help='batch size (default: 256)')
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parser.add_argument('--num_steps', type=int, default=1000, metavar='N',
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help='max episode length (default: 1000)')
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parser.add_argument('--num_episodes', type=int, default=1000, metavar='N',
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help='number of episodes (default: 1000)')
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parser.add_argument('--hidden_size', type=int, default=256, metavar='N',
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help='hidden size (default: 256)')
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parser.add_argument('--updates_per_step', type=int, default=1, metavar='N',
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help='model updates per simulator step (default: 1)')
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parser.add_argument('--replay_size', type=int, default=1000000, metavar='N',
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help='size of replay buffer (default: 10000000)')
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args = parser.parse_args()
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env = NormalizedActions(gym.make(args.env_name))
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env.seed(args.seed)
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torch.manual_seed(args.seed)
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np.random.seed(args.seed)
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agent = SAC(env.observation_space.shape[0], env.action_space, args)
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memory = ReplayMemory(args.replay_size)
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rewards = []
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total_numsteps = 0
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updates = 0
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for i_episode in range(args.num_episodes):
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state = env.reset()
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episode_reward = 0
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while True:
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action = agent.select_action(state)
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next_state, reward, done, _ = env.step(action)
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mask = not done
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memory.push(state, action, reward, next_state, mask)
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if len(memory) > args.batch_size:
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for i in range(args.updates_per_step):
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state_batch, action_batch, reward_batch, next_state_batch, mask_batch = memory.sample(args.batch_size)
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agent.update_parameters(state_batch, action_batch, reward_batch, next_state_batch, mask_batch, total_numsteps)
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state = next_state
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total_numsteps += 1
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episode_reward += reward
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if done:
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break
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rewards.append(episode_reward)
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plot_line(total_numsteps, rewards, args.algo)
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print("Episode: {}, total numsteps: {}, reward: {}, average reward: {}".format(i_episode, total_numsteps, np.round(rewards[-1],2),
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np.round(np.mean(rewards[-100:]),2)))
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env.close()
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