From c1e2467324db4e1148ba217c98b1182417776a54 Mon Sep 17 00:00:00 2001
From: wassname <wassname@users.noreply.github.com>
Date: Sat, 1 Dec 2018 21:21:12 +0800
Subject: [PATCH] saving

---
 src/js/ddpg/ddpg_agent.js | 12 +++++++++---
 src/js/ddpg/tf_import.js  |  5 +++++
 src/train.js              | 28 +++++++++++++++++++++++++---
 3 files changed, 39 insertions(+), 6 deletions(-)

diff --git a/src/js/ddpg/ddpg_agent.js b/src/js/ddpg/ddpg_agent.js
index f5c1a6b..fd54d2f 100644
--- a/src/js/ddpg/ddpg_agent.js
+++ b/src/js/ddpg/ddpg_agent.js
@@ -80,8 +80,14 @@ class DDPGAgent {
         /*
             Save the network
         */
-       this.ddpg.critic.model.save('downloads://critic-' + name);
-       this.ddpg.actor.model.save('downloads://actor-'+ name);
+        if (typeof window === "undefined") {
+            this.ddpg.actor.model.save('file://./outputs/actor-' + name);
+            this.ddpg.actor.model.save('file://./outputs/actor-' + name);
+        } else {
+            this.ddpg.critic.model.save('downloads://critic-' + name);
+            this.ddpg.actor.model.save('downloads://actor-'+ name);
+        }
+
     }
 
     async restore(folder, name){
@@ -229,7 +235,7 @@ class DDPGAgent {
                 this._optimize();
             }
             if (this.config.saveDuringTraining && this.epoch % this.config.saveInterval == 0 && this.epoch != 0){
-                this.save("model-ddpg-traffic-epoch-"+this.epoch);
+                this.save("model-ddpg-walker-epoch-"+this.epoch);
             }
             setMetric("Reward", mean(this.rewardsList));
             setMetric("EpisodeDuration", mean(this.stepList));
diff --git a/src/js/ddpg/tf_import.js b/src/js/ddpg/tf_import.js
index 862ebeb..fe4bdae 100644
--- a/src/js/ddpg/tf_import.js
+++ b/src/js/ddpg/tf_import.js
@@ -1,2 +1,7 @@
 const tf = require('@tensorflow/tfjs')
+// Load the binding (note you may have to press enter in the terminal for some reason)
+require('@tensorflow/tfjs-node-gpu');
+require('@tensorflow/tfjs-node'); // seem to need this as well for save?
 module.exports = { tf }
+
+
diff --git a/src/train.js b/src/train.js
index 9824491..ae5367e 100644
--- a/src/train.js
+++ b/src/train.js
@@ -7,24 +7,46 @@ const {
 } = require('./js/walker')
 
 
-var world = new b2.World(new b2.Vec2(0, -10))
+var gravity = new b2.Vec2(0, -10)
+var world = new b2.World(gravity)
 floor = createFloor(world, config.max_floor_tiles);
 var env = new Walker(world, floor, config)
 
 const nbActions = env.joints.length + 4
 const stateSize = env.bodies.length * 10 + env.joints.length * 3
 
+
 var agent = new DDPGAgent(env, {
     stateSize,
     nbActions,
     resetEpisode: true,
-    desiredActionStddev: 0.4,
+    batchSize: 128,
+    actorLr: 0.0001,
+    criticLr: 0.001,
+    memorySize: 30000,
+    gamma: 0.99,
+
+    desiredActionStddev: 0.1,
     initialStddev: 0.4,
+
     actorFirstLayerSize: 128,
     actorSecondLayerSize: 64,
     criticFirstLayerSSize: 128,
     criticFirstLayerASize: 128,
     criticSecondLayerSize: 64,
-    nbEpochs: 1000
+
+    nbEpochs: 1000,
+    nbEpochsCycle: 10,
+    nbTrainSteps: 100,
+    maxStep: 800,
+    saveDuringTraining: true,
+    saveInterval: 20,
+
+    tau: 0.008,
+    adoptionCoefficient: 1.01,
+
+
 });
 agent.train(true);
+
+agent.save("model-ddpg-traffic");