From ac890a28d2fb7024cedeadb82f4049986dd4e2b7 Mon Sep 17 00:00:00 2001 From: Antonin Raffin Date: Mon, 1 Mar 2021 10:52:45 +0100 Subject: [PATCH 01/29] Update sac hyperparams --- hyperparams/sac.yml | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/hyperparams/sac.yml b/hyperparams/sac.yml index dc2d6021c..9e3753b34 100644 --- a/hyperparams/sac.yml +++ b/hyperparams/sac.yml @@ -104,11 +104,10 @@ BipedalWalkerHardcore-v3: ent_coef: 'auto' gamma: 0.99 tau: 0.01 - train_freq: 64 - gradient_steps: 64 + train_freq: 1 + gradient_steps: 1 learning_starts: 10000 - use_sde: True - policy_kwargs: "dict(log_std_init=-3, net_arch=[400, 300], use_expln=True)" + policy_kwargs: "dict(net_arch=[400, 300])" # === Bullet envs === From d033c0a7e94a45fbf793debad012c9607bd8be9e Mon Sep 17 00:00:00 2001 From: Antonin Raffin Date: Mon, 1 Mar 2021 10:53:21 +0100 Subject: [PATCH 02/29] Bump version --- CHANGELOG.md | 13 +++++++++++++ version.txt | 2 +- 2 files changed, 14 insertions(+), 1 deletion(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 846e3e1dd..8ec9022e8 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,3 +1,16 @@ +## Release 1.0rc0 (WIP) + +### Breaking Changes + +### New Features + +### Bug fixes + +### Documentation + +### Other + + ## Pre-Release 0.11.1 (2021-02-27) ### Breaking Changes diff --git a/version.txt b/version.txt index af88ba824..2d14d7bcb 100644 --- a/version.txt +++ b/version.txt @@ -1 +1 @@ -0.11.1 +1.0r0 From fa335df26511ddf09798ea86ed6a685707e15a05 Mon Sep 17 00:00:00 2001 From: Antonin Raffin Date: Mon, 1 Mar 2021 10:55:03 +0100 Subject: [PATCH 03/29] Move real robot hyperparams --- hyperparams/sac.yml | 54 ++++++++++++++++++++++----------------------- 1 file changed, 27 insertions(+), 27 deletions(-) diff --git a/hyperparams/sac.yml b/hyperparams/sac.yml index 9e3753b34..3a5b144fb 100644 --- a/hyperparams/sac.yml +++ b/hyperparams/sac.yml @@ -1,30 +1,3 @@ -# === Real Robot envs -NeckEnvRelative-v2: - env_wrapper: - - utils.wrappers.HistoryWrapper: - horizon: 2 - - sb3_contrib.common.wrappers.TimeFeatureWrapper: - test_mode: False - # - utils.wrappers.LowPassFilterWrapper: - # freq: 2.0 - # df: 25.0 - n_timesteps: !!float 1e6 - policy: 'MlpPolicy' - learning_rate: !!float 7.3e-4 - buffer_size: 100000 - batch_size: 256 - ent_coef: 'auto' - gamma: 0.99 - tau: 0.02 - train_freq: [1, "episode"] - gradient_steps: -1 - # 10 episodes of warm-up - learning_starts: 3000 - use_sde_at_warmup: True - use_sde: True - sde_sample_freq: 64 - policy_kwargs: "dict(log_std_init=-2, net_arch=[256, 256])" - # Tuned MountainCarContinuous-v0: # env_wrapper: utils.wrappers.PlotActionWrapper @@ -328,3 +301,30 @@ donkey-generated-track-v0: use_sde: True sde_sample_freq: 64 policy_kwargs: "dict(log_std_init=-2, net_arch=[64, 64])" + +# === Real Robot envs +NeckEnvRelative-v2: + env_wrapper: + - utils.wrappers.HistoryWrapper: + horizon: 2 + - sb3_contrib.common.wrappers.TimeFeatureWrapper: + test_mode: False + # - utils.wrappers.LowPassFilterWrapper: + # freq: 2.0 + # df: 25.0 + n_timesteps: !!float 1e6 + policy: 'MlpPolicy' + learning_rate: !!float 7.3e-4 + buffer_size: 100000 + batch_size: 256 + ent_coef: 'auto' + gamma: 0.99 + tau: 0.02 + train_freq: [1, "episode"] + gradient_steps: -1 + # 10 episodes of warm-up + learning_starts: 3000 + use_sde_at_warmup: True + use_sde: True + sde_sample_freq: 64 + policy_kwargs: "dict(log_std_init=-2, net_arch=[256, 256])" From 27edfcb81584f970e64c4f52e5407be90baf7981 Mon Sep 17 00:00:00 2001 From: Antonin Raffin Date: Tue, 2 Mar 2021 11:06:04 +0100 Subject: [PATCH 04/29] Update HER params --- hyperparams/her.yml | 131 +++++++++++++++++++------------------------- 1 file changed, 57 insertions(+), 74 deletions(-) diff --git a/hyperparams/her.yml b/hyperparams/her.yml index 5d9e2afd5..d24729a87 100644 --- a/hyperparams/her.yml +++ b/hyperparams/her.yml @@ -1,73 +1,3 @@ -# === Real Robot envs -NeckGoalEnvRelativeSparse-v2: - model_class: 'sac' - # env_wrapper: - # - utils.wrappers.HistoryWrapper: - # horizon: 2 - # - sb3_contrib.common.wrappers.TimeFeatureWrapper - n_timesteps: !!float 1e6 - policy: 'MlpPolicy' - learning_rate: !!float 7.3e-4 - buffer_size: 100000 - batch_size: 256 - ent_coef: 'auto' - gamma: 0.99 - tau: 0.02 - train_freq: [1, "episode"] - gradient_steps: -1 - - # 10 episodes of warm-up - learning_starts: 1500 - use_sde_at_warmup: True - use_sde: True - sde_sample_freq: 64 - policy_kwargs: "dict(log_std_init=-2, net_arch=[256, 256])" - n_sampled_goal: 4 - goal_selection_strategy: 'future' - online_sampling: False - -NeckGoalEnvRelativeDense-v2: - model_class: 'sac' - env_wrapper: - - utils.wrappers.HistoryWrapperObsDict: - horizon: 2 - # - sb3_contrib.common.wrappers.TimeFeatureWrapper - n_timesteps: !!float 1e6 - policy: 'MlpPolicy' - learning_rate: !!float 7.3e-4 - buffer_size: 200000 - batch_size: 256 - ent_coef: 'auto' - gamma: 0.99 - tau: 0.02 - train_freq: [1, "episode"] - gradient_steps: -1 - # 10 episodes of warm-up - learning_starts: 1500 - use_sde_at_warmup: True - use_sde: True - sde_sample_freq: 64 - policy_kwargs: "dict(log_std_init=-2, net_arch=[256, 256])" - n_sampled_goal: 4 - goal_selection_strategy: 'future' - online_sampling: False - -FetchPush-v1: - env_wrapper: - - sb3_contrib.common.wrappers.TimeFeatureWrapper - n_timesteps: !!float 1e6 - policy: 'MlpPolicy' - model_class: 'tqc' - n_sampled_goal: 4 - goal_selection_strategy: 'future' - buffer_size: 1000000 - batch_size: 2048 - gamma: 0.95 - learning_rate: !!float 1e-3 - tau: 0.05 - policy_kwargs: "dict(n_critics=2, net_arch=[512, 512, 512])" - online_sampling: True - # DDPG hyperparams #parking-v0: # n_timesteps: !!float 2e5 @@ -103,7 +33,7 @@ parking-v0: # Mujoco Robotic Env -FetchSlide-v1: +FetchPush-v1: env_wrapper: - sb3_contrib.common.wrappers.TimeFeatureWrapper n_timesteps: !!float 1e6 @@ -116,11 +46,10 @@ FetchSlide-v1: gamma: 0.95 learning_rate: !!float 1e-3 tau: 0.05 - # ent_coef: 0.01 policy_kwargs: "dict(n_critics=2, net_arch=[512, 512, 512])" online_sampling: True -FetchPush-v1: +FetchSlide-v1: env_wrapper: - sb3_contrib.common.wrappers.TimeFeatureWrapper n_timesteps: !!float 1e6 @@ -134,9 +63,10 @@ FetchPush-v1: learning_rate: !!float 1e-3 tau: 0.05 # ent_coef: 0.01 - policy_kwargs: "dict(n_critics=2, net_arch=[256, 256, 256])" + policy_kwargs: "dict(n_critics=2, net_arch=[512, 512, 512])" online_sampling: True + FetchPickAndPlace-v1: env_wrapper: - sb3_contrib.common.wrappers.TimeFeatureWrapper @@ -172,3 +102,56 @@ FetchReach-v1: learning_starts: 1000 online_sampling: True normalize: True + +# === Real Robot envs +NeckGoalEnvRelativeSparse-v2: + model_class: 'sac' + # env_wrapper: + # - utils.wrappers.HistoryWrapper: + # horizon: 2 + # - sb3_contrib.common.wrappers.TimeFeatureWrapper + n_timesteps: !!float 1e6 + policy: 'MlpPolicy' + learning_rate: !!float 7.3e-4 + buffer_size: 100000 + batch_size: 256 + ent_coef: 'auto' + gamma: 0.99 + tau: 0.02 + train_freq: [1, "episode"] + gradient_steps: -1 + # 10 episodes of warm-up + learning_starts: 1500 + use_sde_at_warmup: True + use_sde: True + sde_sample_freq: 64 + policy_kwargs: "dict(log_std_init=-2, net_arch=[256, 256])" + n_sampled_goal: 4 + goal_selection_strategy: 'future' + online_sampling: False + +NeckGoalEnvRelativeDense-v2: + model_class: 'sac' + env_wrapper: + - utils.wrappers.HistoryWrapperObsDict: + horizon: 2 + # - sb3_contrib.common.wrappers.TimeFeatureWrapper + n_timesteps: !!float 1e6 + policy: 'MlpPolicy' + learning_rate: !!float 7.3e-4 + buffer_size: 200000 + batch_size: 256 + ent_coef: 'auto' + gamma: 0.99 + tau: 0.02 + train_freq: [1, "episode"] + gradient_steps: -1 + # 10 episodes of warm-up + learning_starts: 1500 + use_sde_at_warmup: True + use_sde: True + sde_sample_freq: 64 + policy_kwargs: "dict(log_std_init=-2, net_arch=[256, 256])" + n_sampled_goal: 4 + goal_selection_strategy: 'future' + online_sampling: False From 1e0c8bd3f4b9e8b4bd88b92c7e30a15d001c9f58 Mon Sep 17 00:00:00 2001 From: Antonin Raffin Date: Tue, 2 Mar 2021 11:16:08 +0100 Subject: [PATCH 05/29] Fix for HER action noise --- CHANGELOG.md | 1 + hyperparams/her.yml | 10 +++++----- utils/exp_manager.py | 12 +++++++----- 3 files changed, 13 insertions(+), 10 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 8ec9022e8..7d3cde722 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -5,6 +5,7 @@ ### New Features ### Bug fixes +- Bug fixes for `HER` handling action noise ### Documentation diff --git a/hyperparams/her.yml b/hyperparams/her.yml index d24729a87..66e3ac815 100644 --- a/hyperparams/her.yml +++ b/hyperparams/her.yml @@ -1,22 +1,22 @@ # DDPG hyperparams -#parking-v0: -# n_timesteps: !!float 2e5 +# parking-v0: +# n_timesteps: !!float 1e5 # policy: 'MlpPolicy' # model_class: 'ddpg' # n_sampled_goal: 4 # goal_selection_strategy: 'future' # buffer_size: 1000000 -# batch_size: 256 +# batch_size: 1024 # gamma: 0.95 # learning_rate: !!float 1e-3 # noise_type: 'normal' # noise_std: 0.2 -# policy_kwargs: "dict(net_arch=[256, 256, 256])" +# policy_kwargs: "dict(net_arch=[512, 512, 512])" # online_sampling: True # max_episode_length: 100 parking-v0: - n_timesteps: !!float 2e5 + n_timesteps: !!float 1e5 policy: 'MlpPolicy' model_class: 'tqc' n_sampled_goal: 4 diff --git a/utils/exp_manager.py b/utils/exp_manager.py index 0304cf176..3265979e2 100644 --- a/utils/exp_manager.py +++ b/utils/exp_manager.py @@ -149,7 +149,7 @@ def setup_experiment(self) -> Optional[BaseAlgorithm]: # Create env to have access to action space for action noise env = self.create_envs(self.n_envs, no_log=False) - self._hyperparams = self._preprocess_action_noise(hyperparams, env) + self._hyperparams = self._preprocess_action_noise(hyperparams, saved_hyperparams, env) if self.continue_training: model = self._load_pretrained_agent(self._hyperparams, env) @@ -350,11 +350,13 @@ def _preprocess_hyperparams( return hyperparams, env_wrapper, callbacks - def _preprocess_action_noise(self, hyperparams: Dict[str, Any], env: VecEnv) -> Dict[str, Any]: + def _preprocess_action_noise( + self, hyperparams: Dict[str, Any], saved_hyperparams: Dict[str, Any], env: VecEnv + ) -> Dict[str, Any]: # Special case for HER - algo = hyperparams["model_class"] if self.algo == "her" else self.algo - # Parse noise string for DDPG and SAC - if algo in ["ddpg", "sac", "td3", "tqc", "ddpg"] and hyperparams.get("noise_type") is not None: + algo = saved_hyperparams["model_class"] if self.algo == "her" else self.algo + # Parse noise string + if algo in ["ddpg", "sac", "td3", "tqc"] and hyperparams.get("noise_type") is not None: noise_type = hyperparams["noise_type"].strip() noise_std = hyperparams["noise_std"] From 84bd43cb97b008177ac02bec859814eb0e574320 Mon Sep 17 00:00:00 2001 From: Antonin Raffin Date: Tue, 2 Mar 2021 21:11:54 +0100 Subject: [PATCH 06/29] Update benchmark file --- benchmark.md | 13 +++++++------ setup.cfg | 2 +- utils/benchmark.py | 33 +++++++++++++++++++++++++++------ utils/utils.py | 10 +++++++--- 4 files changed, 42 insertions(+), 16 deletions(-) diff --git a/benchmark.md b/benchmark.md index 5a8988be8..33c86f90d 100644 --- a/benchmark.md +++ b/benchmark.md @@ -3,7 +3,7 @@ Final performance of the trained agents can be found in the table below. This was computed by running `python -m utils.benchmark`: -it runs the trained agent for `n_timesteps` and then reports the mean episode reward +it runs the trained agent (trained on `n_timesteps`) for `eval_timesteps` and then reports the mean episode reward during this evaluation. It uses the deterministic policy except for Atari games. @@ -13,8 +13,9 @@ It uses the deterministic policy except for Atari games. This benchmark is meant to check algorithm (maximal) performance, find potential bugs and also allow users to have access to pretrained agents.* -|algo| env_id |mean_reward|std_reward|n_timesteps|n_episodes| -|----|-----------|----------:|---------:|----------:|---------:| -|a2c |CartPole-v1| 500.0| 0.00| 150000| 300| -|ppo |CartPole-v1| 500.0| 0.00| 150000| 300| -|sac |Pendulum-v0| -157.0| 88.71| 150000| 750| +"M" stands for Million (1e6) +|algo| env_id |mean_reward|std_reward|n_timesteps|eval_timesteps|eval_episodes| +|----|-----------|----------:|---------:|----------:|-------------:|------------:| +|a2c |CartPole-v1| 500.0| 0.00| 500000| 1000| 2| +|ppo |CartPole-v1| 500.0| 0.00| 100000| 1000| 2| +|sac |Pendulum-v0| -202.0| 60.50| 20000| 1000| 5| diff --git a/setup.cfg b/setup.cfg index f8ee01297..09b9d88e0 100644 --- a/setup.cfg +++ b/setup.cfg @@ -24,7 +24,7 @@ exclude = .git, # There's no value in checking cache directories __pycache__, -max-complexity = 10 +max-complexity = 15 # The GitHub editor is 127 chars wide max-line-length = 127 diff --git a/utils/benchmark.py b/utils/benchmark.py index 300c02c59..ae7a1cff9 100644 --- a/utils/benchmark.py +++ b/utils/benchmark.py @@ -9,7 +9,7 @@ import pytablewriter from stable_baselines3.common.results_plotter import load_results, ts2xy -from utils import get_trained_models +from utils.utils import get_latest_run_id, get_saved_hyperparams, get_trained_models parser = argparse.ArgumentParser() parser.add_argument("--log-dir", help="Root log folder", default="rl-trained-agents/", type=str) @@ -23,13 +23,21 @@ trained_models = get_trained_models(args.log_dir) n_experiments = len(trained_models) -results = {"algo": [], "env_id": [], "mean_reward": [], "std_reward": [], "n_timesteps": [], "n_episodes": []} +results = { + "algo": [], + "env_id": [], + "mean_reward": [], + "std_reward": [], + "n_timesteps": [], + "eval_timesteps": [], + "eval_episodes": [], +} for idx, trained_model in enumerate(trained_models.keys()): # noqa: C901 algo, env_id = trained_models[trained_model] n_envs = args.n_envs n_timesteps = args.n_timesteps - if algo in ["dqn", "ddpg", "sac", "td3", "tqc", "her"]: + if algo in ["dqn", "qrdqn", "ddpg", "sac", "td3", "tqc", "her"]: n_envs = 1 n_timesteps *= args.n_envs @@ -80,14 +88,25 @@ x, y = ts2xy(load_results(reward_log), "timesteps") if len(x) > 0: + # Retrieve training timesteps from config + exp_id = get_latest_run_id(os.path.join(args.log_dir, algo), env_id) + log_path = os.path.join(args.log_dir, algo, f"{env_id}_{exp_id}", env_id) + hyperparams, _ = get_saved_hyperparams(log_path) + # Hack to format it properly + if hyperparams["n_timesteps"] < 1e6: + n_training_timesteps = hyperparams["n_timesteps"] + else: + n_training_timesteps = f"{int(hyperparams['n_timesteps'] / 1e6)}M" + mean_reward = np.mean(y) std_reward = np.std(y) results["algo"].append(algo) results["env_id"].append(env_id) results["mean_reward"].append(mean_reward) results["std_reward"].append(std_reward) - results["n_timesteps"].append(x[-1]) - results["n_episodes"].append(len(y)) + results["n_timesteps"].append(n_training_timesteps) + results["eval_timesteps"].append(x[-1]) + results["eval_episodes"].append(len(y)) if args.verbose >= 1: print(x[-1], "timesteps") print(len(y), "Episodes") @@ -112,7 +131,7 @@ Final performance of the trained agents can be found in the table below. This was computed by running `python -m utils.benchmark`: -it runs the trained agent for `n_timesteps` and then reports the mean episode reward +it runs the trained agent (trained on `n_timesteps`) for `eval_timesteps` and then reports the mean episode reward during this evaluation. It uses the deterministic policy except for Atari games. @@ -122,6 +141,7 @@ This benchmark is meant to check algorithm (maximal) performance, find potential bugs and also allow users to have access to pretrained agents.* +"M" stands for Million (1e6) """ # change the output stream to a file @@ -135,6 +155,7 @@ # Update root benchmark file if not args.test_mode: shutil.copy(tmp_path, "benchmark.md") + print("Results copied to: benchmark.md") # Alternatively, to dump as csv file: # results_df.to_csv(f"{args.benchmark_dir}/benchmark.csv",sep=",", index=False) diff --git a/utils/utils.py b/utils/utils.py index 66cd0a687..bb3eb0e8d 100644 --- a/utils/utils.py +++ b/utils/utils.py @@ -264,8 +264,8 @@ def func(progress_remaining: float) -> float: def get_trained_models(log_folder: str) -> Dict[str, Tuple[str, str]]: """ - :param log_folder: (str) Root log folder - :return: (Dict[str, Tuple[str, str]]) Dict representing the trained agent + :param log_folder: Root log folder + :return: Dict representing the trained agents """ trained_models = {} for algo in os.listdir(log_folder): @@ -296,7 +296,11 @@ def get_latest_run_id(log_path: str, env_id: str) -> int: return max_run_id -def get_saved_hyperparams(stats_path: str, norm_reward: bool = False, test_mode: bool = False) -> Tuple[Dict[str, Any], str]: +def get_saved_hyperparams( + stats_path: str, + norm_reward: bool = False, + test_mode: bool = False, +) -> Tuple[Dict[str, Any], str]: """ :param stats_path: :param norm_reward: From 1d3b8a744cc32da36cc962e50b8b8ddfda6773e6 Mon Sep 17 00:00:00 2001 From: Antonin Raffin Date: Tue, 2 Mar 2021 21:16:25 +0100 Subject: [PATCH 07/29] Update formatting --- benchmark.md | 8 ++++---- utils/benchmark.py | 3 ++- 2 files changed, 6 insertions(+), 5 deletions(-) diff --git a/benchmark.md b/benchmark.md index 33c86f90d..c14def64d 100644 --- a/benchmark.md +++ b/benchmark.md @@ -15,7 +15,7 @@ and also allow users to have access to pretrained agents.* "M" stands for Million (1e6) |algo| env_id |mean_reward|std_reward|n_timesteps|eval_timesteps|eval_episodes| -|----|-----------|----------:|---------:|----------:|-------------:|------------:| -|a2c |CartPole-v1| 500.0| 0.00| 500000| 1000| 2| -|ppo |CartPole-v1| 500.0| 0.00| 100000| 1000| 2| -|sac |Pendulum-v0| -202.0| 60.50| 20000| 1000| 5| +|----|-----------|----------:|---------:|-----------|-------------:|------------:| +|a2c |CartPole-v1| 500.0| 0.00|500k | 1000| 2| +|ppo |CartPole-v1| 500.0| 0.00|100k | 1000| 2| +|sac |Pendulum-v0| -202.0| 60.50|20k | 1000| 5| diff --git a/utils/benchmark.py b/utils/benchmark.py index ae7a1cff9..bd8772ba9 100644 --- a/utils/benchmark.py +++ b/utils/benchmark.py @@ -94,7 +94,7 @@ hyperparams, _ = get_saved_hyperparams(log_path) # Hack to format it properly if hyperparams["n_timesteps"] < 1e6: - n_training_timesteps = hyperparams["n_timesteps"] + n_training_timesteps = f"{int(hyperparams['n_timesteps'] / 1e3)}k" else: n_training_timesteps = f"{int(hyperparams['n_timesteps'] / 1e6)}M" @@ -142,6 +142,7 @@ and also allow users to have access to pretrained agents.* "M" stands for Million (1e6) + """ # change the output stream to a file From 599ba3ffa5821071e7eed532b4e271fe9c1dfb27 Mon Sep 17 00:00:00 2001 From: Antonin Raffin Date: Wed, 3 Mar 2021 11:14:56 +0100 Subject: [PATCH 08/29] Catch errors when benchmarking --- benchmark.md | 1 + utils/benchmark.py | 3 +++ 2 files changed, 4 insertions(+) diff --git a/benchmark.md b/benchmark.md index c14def64d..d6f93b838 100644 --- a/benchmark.md +++ b/benchmark.md @@ -14,6 +14,7 @@ This benchmark is meant to check algorithm (maximal) performance, find potential and also allow users to have access to pretrained agents.* "M" stands for Million (1e6) + |algo| env_id |mean_reward|std_reward|n_timesteps|eval_timesteps|eval_episodes| |----|-----------|----------:|---------:|-----------|-------------:|------------:| |a2c |CartPole-v1| 500.0| 0.00|500k | 1000| 2| diff --git a/utils/benchmark.py b/utils/benchmark.py index bd8772ba9..42a48bbc1 100644 --- a/utils/benchmark.py +++ b/utils/benchmark.py @@ -85,6 +85,9 @@ print("Skipping eval...") else: return_code = subprocess.call(["python", "enjoy.py"] + arguments) + if return_code != 0: + print("Error during evaluation, skipping...") + continue x, y = ts2xy(load_results(reward_log), "timesteps") if len(x) > 0: From cb509acc7c1000ad0252b80ebb850fad695ea4bc Mon Sep 17 00:00:00 2001 From: Antonin Raffin Date: Wed, 3 Mar 2021 11:24:05 +0100 Subject: [PATCH 09/29] Use subprocess only if needed --- utils/utils.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/utils/utils.py b/utils/utils.py index bb3eb0e8d..374ed4ee3 100644 --- a/utils/utils.py +++ b/utils/utils.py @@ -202,7 +202,7 @@ def create_test_env( vec_env_kwargs = {} vec_env_cls = DummyVecEnv - if n_envs > 1 or "Bullet" in env_id: + if n_envs > 1 or ("Bullet" in env_id and should_render): # HACK: force SubprocVecEnv for Bullet env # as Pybullet envs does not follow gym.render() interface vec_env_cls = SubprocVecEnv From df76707b768354efdf97d7d7069dea27813bddd9 Mon Sep 17 00:00:00 2001 From: Antonin Raffin Date: Wed, 3 Mar 2021 11:25:41 +0100 Subject: [PATCH 10/29] Change default number of threads for bench --- utils/benchmark.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/utils/benchmark.py b/utils/benchmark.py index 42a48bbc1..5e4160e16 100644 --- a/utils/benchmark.py +++ b/utils/benchmark.py @@ -19,6 +19,7 @@ parser.add_argument("--verbose", help="Verbose mode (0: no output, 1: INFO)", default=1, type=int) parser.add_argument("--seed", help="Random generator seed", type=int, default=0) parser.add_argument("--test-mode", action="store_true", default=False, help="Do only one experiment (useful for testing)") +parser.add_argument("--num-threads", help="Number of threads for PyTorch", default=2, type=int) args = parser.parse_args() trained_models = get_trained_models(args.log_dir) @@ -60,8 +61,8 @@ "--env", env_id, "--no-render", - # "--num-threads", - # str(2), + "--num-threads", + str(args.num_threads), "--seed", str(args.seed), "--verbose", From 994cc30e6b3ac2bb3b27ca2429eb2bf103349b7d Mon Sep 17 00:00:00 2001 From: Antonin Raffin Date: Thu, 4 Mar 2021 15:50:03 +0100 Subject: [PATCH 11/29] Add pre-trained agents --- benchmark.md | 93 ++++++++++++++++++++++++++++++++++++++++++--- hyperparams/sac.yml | 12 +++++- hyperparams/tqc.yml | 17 ++++++--- rl-trained-agents | 2 +- 4 files changed, 112 insertions(+), 12 deletions(-) diff --git a/benchmark.md b/benchmark.md index d6f93b838..f90a0e40d 100644 --- a/benchmark.md +++ b/benchmark.md @@ -15,8 +15,91 @@ and also allow users to have access to pretrained agents.* "M" stands for Million (1e6) -|algo| env_id |mean_reward|std_reward|n_timesteps|eval_timesteps|eval_episodes| -|----|-----------|----------:|---------:|-----------|-------------:|------------:| -|a2c |CartPole-v1| 500.0| 0.00|500k | 1000| 2| -|ppo |CartPole-v1| 500.0| 0.00|100k | 1000| 2| -|sac |Pendulum-v0| -202.0| 60.50|20k | 1000| 5| +|algo | env_id |mean_reward|std_reward|n_timesteps|eval_timesteps|eval_episodes| +|-----|---------------------------|----------:|---------:|-----------|-------------:|------------:| +|a2c |Acrobot-v1 | -83.353| 17.213|500k | 149979| 1778| +|a2c |AntBulletEnv-v0 | 2497.147| 37.359|2M | 150000| 150| +|a2c |BeamRiderNoFrameskip-v4 | 2890.298| 1379.137|10M | 591104| 47| +|a2c |BipedalWalker-v3 | 299.754| 23.459|5M | 149287| 208| +|a2c |BreakoutNoFrameskip-v4 | 279.793| 122.177|10M | 604115| 82| +|a2c |CartPole-v1 | 500.000| 0.000|500k | 150000| 300| +|a2c |EnduroNoFrameskip-v4 | 0.000| 0.000|10M | 599040| 45| +|a2c |HalfCheetahBulletEnv-v0 | 2107.384| 36.008|2M | 150000| 150| +|a2c |HopperBulletEnv-v0 | 815.355| 313.798|2M | 149541| 254| +|a2c |LunarLander-v2 | 155.751| 80.419|200k | 149443| 297| +|a2c |LunarLanderContinuous-v2 | 84.225| 145.906|5M | 149305| 256| +|a2c |MountainCar-v0 | -111.263| 24.087|1M | 149982| 1348| +|a2c |MountainCarContinuous-v0 | 91.166| 0.255|100k | 149923| 1659| +|a2c |Pendulum-v0 | -162.965| 103.210|1M | 150000| 750| +|a2c |PongNoFrameskip-v4 | 15.578| 2.351|10M | 600740| 64| +|a2c |QbertNoFrameskip-v4 | 3882.345| 1223.327|10M | 610670| 194| +|a2c |SpaceInvadersNoFrameskip-v4| 627.160| 201.974|10M | 604848| 162| +|a2c |Walker2DBulletEnv-v0 | 858.209| 333.116|2M | 149156| 173| +|ddpg |AntBulletEnv-v0 | 2399.147| 75.410|1M | 150000| 150| +|ddpg |BipedalWalker-v3 | 197.486| 141.580|1M | 149237| 227| +|ddpg |HalfCheetahBulletEnv-v0 | 2078.325| 208.379|1M | 150000| 150| +|ddpg |HopperBulletEnv-v0 | 1157.065| 448.695|1M | 149565| 346| +|ddpg |LunarLanderContinuous-v2 | 230.217| 92.372|300k | 149862| 556| +|ddpg |MountainCarContinuous-v0 | 93.512| 0.048|300k | 149965| 2260| +|ddpg |Pendulum-v0 | -152.099| 94.282|20k | 150000| 750| +|ddpg |Walker2DBulletEnv-v0 | 1387.591| 736.955|1M | 149051| 208| +|dqn |Acrobot-v1 | -76.639| 11.752|100k | 149998| 1932| +|dqn |BeamRiderNoFrameskip-v4 | 4295.946| 1790.458|10M | 600832| 37| +|dqn |BreakoutNoFrameskip-v4 | 358.327| 61.981|10M | 601461| 55| +|dqn |CartPole-v1 | 500.000| 0.000|50k | 150000| 300| +|dqn |LunarLander-v2 | 154.382| 79.241|100k | 149373| 200| +|dqn |MountainCar-v0 | -100.849| 9.925|120k | 149962| 1487| +|dqn |PongNoFrameskip-v4 | 20.602| 0.613|10M | 598998| 88| +|dqn |QbertNoFrameskip-v4 | 9496.774| 5399.633|10M | 605844| 124| +|dqn |SpaceInvadersNoFrameskip-v4| 622.742| 201.564|10M | 604311| 155| +|her |parking-v0 | -6.970| 2.970|200k | 149980| 7106| +|ppo |Acrobot-v1 | -73.506| 18.201|1M | 149979| 2013| +|ppo |AntBulletEnv-v0 | 2865.922| 56.468|2M | 150000| 150| +|ppo |BeamRiderNoFrameskip-v4 | 3397.000| 1662.368|10M | 598926| 46| +|ppo |BipedalWalker-v3 | 213.299| 129.490|5M | 149826| 233| +|ppo |BreakoutNoFrameskip-v4 | 398.033| 33.328|10M | 600418| 60| +|ppo |CartPole-v1 | 500.000| 0.000|100k | 150000| 300| +|ppo |HalfCheetahBulletEnv-v0 | 2924.721| 64.465|2M | 150000| 150| +|ppo |HopperBulletEnv-v0 | 2575.054| 223.301|2M | 149094| 152| +|ppo |LunarLander-v2 | 242.119| 31.823|1M | 149636| 369| +|ppo |LunarLanderContinuous-v2 | 270.863| 32.072|1M | 149956| 526| +|ppo |MountainCar-v0 | -110.423| 19.473|1M | 149954| 1358| +|ppo |MountainCarContinuous-v0 | 88.343| 2.572|20k | 149983| 633| +|ppo |Pendulum-v0 | -169.887| 104.904|2M | 150000| 750| +|ppo |PongNoFrameskip-v4 | 20.989| 0.105|10M | 599902| 90| +|ppo |QbertNoFrameskip-v4 | 15627.108| 3313.538|10M | 600248| 83| +|ppo |SpaceInvadersNoFrameskip-v4| 960.331| 425.355|10M | 603771| 136| +|ppo |Walker2DBulletEnv-v0 | 2109.992| 13.899|2M | 150000| 150| +|qrdqn|Acrobot-v1 | -69.135| 9.967|100k | 149949| 2138| +|qrdqn|BeamRiderNoFrameskip-v4 | 17122.941| 10769.997|10M | 596483| 17| +|qrdqn|BreakoutNoFrameskip-v4 | 393.600| 79.828|10M | 579711| 40| +|qrdqn|CartPole-v1 | 500.000| 0.000|50k | 150000| 300| +|qrdqn|LunarLander-v2 | 70.236| 225.491|100k | 149957| 522| +|qrdqn|MountainCar-v0 | -106.042| 15.536|120k | 149943| 1414| +|qrdqn|PongNoFrameskip-v4 | 20.492| 0.687|10M | 597443| 63| +|qrdqn|QbertNoFrameskip-v4 | 14799.728| 2917.629|10M | 600773| 92| +|qrdqn|SpaceInvadersNoFrameskip-v4| 1899.928| 823.488|10M | 597218| 69| +|sac |AntBulletEnv-v0 | 3073.114| 175.148|1M | 150000| 150| +|sac |BipedalWalker-v3 | 297.668| 33.060|500k | 149530| 136| +|sac |HalfCheetahBulletEnv-v0 | 2792.170| 12.088|1M | 150000| 150| +|sac |HopperBulletEnv-v0 | 2603.494| 164.322|1M | 149724| 151| +|sac |LunarLanderContinuous-v2 | 260.390| 65.467|500k | 149634| 672| +|sac |MountainCarContinuous-v0 | 94.679| 1.134|50k | 149966| 1443| +|sac |Pendulum-v0 | -156.995| 88.714|20k | 150000| 750| +|sac |Walker2DBulletEnv-v0 | 2292.266| 13.970|1M | 149983| 150| +|td3 |AntBulletEnv-v0 | 3300.026| 54.640|1M | 150000| 150| +|td3 |BipedalWalker-v3 | 305.990| 56.886|1M | 149999| 224| +|td3 |HalfCheetahBulletEnv-v0 | 2821.641| 19.722|1M | 150000| 150| +|td3 |HopperBulletEnv-v0 | 2681.609| 27.806|1M | 149486| 150| +|td3 |LunarLanderContinuous-v2 | 207.451| 67.562|300k | 149488| 337| +|td3 |MountainCarContinuous-v0 | 93.483| 0.075|300k | 149976| 2275| +|td3 |Pendulum-v0 | -151.855| 90.227|20k | 150000| 750| +|td3 |Walker2DBulletEnv-v0 | 204.727| 115.196|1M | 149927| 1338| +|tqc |AntBulletEnv-v0 | 3456.717| 248.733|1M | 150000| 150| +|tqc |BipedalWalker-v3 | 329.808| 45.083|500k | 149682| 254| +|tqc |HalfCheetahBulletEnv-v0 | 3675.299| 17.681|1M | 150000| 150| +|tqc |HopperBulletEnv-v0 | 2662.373| 206.210|1M | 149881| 151| +|tqc |LunarLanderContinuous-v2 | 277.956| 25.466|500k | 149928| 706| +|tqc |MountainCarContinuous-v0 | 63.641| 45.259|50k | 149796| 186| +|tqc |Pendulum-v0 | -151.340| 87.893|20k | 150000| 750| +|tqc |Walker2DBulletEnv-v0 | 2508.934| 614.624|1M | 149572| 159| diff --git a/hyperparams/sac.yml b/hyperparams/sac.yml index 3a5b144fb..43acd70af 100644 --- a/hyperparams/sac.yml +++ b/hyperparams/sac.yml @@ -49,7 +49,17 @@ LunarLanderContinuous-v2: n_timesteps: !!float 5e5 policy: 'MlpPolicy' batch_size: 256 - learning_starts: 1000 + learning_rate: lin_7.3e-4 + buffer_size: 1000000 + batch_size: 256 + ent_coef: 'auto' + gamma: 0.99 + tau: 0.01 + train_freq: 1 + gradient_steps: 1 + learning_starts: 10000 + policy_kwargs: "dict(net_arch=[400, 300])" + # Tuned BipedalWalker-v3: diff --git a/hyperparams/tqc.yml b/hyperparams/tqc.yml index de7969067..c12bf6fc9 100644 --- a/hyperparams/tqc.yml +++ b/hyperparams/tqc.yml @@ -26,8 +26,16 @@ Pendulum-v0: LunarLanderContinuous-v2: n_timesteps: !!float 5e5 policy: 'MlpPolicy' + learning_rate: lin_7.3e-4 + buffer_size: 1000000 batch_size: 256 - learning_starts: 1000 + ent_coef: 'auto' + gamma: 0.99 + tau: 0.01 + train_freq: 1 + gradient_steps: 1 + learning_starts: 10000 + policy_kwargs: "dict(net_arch=[400, 300])" BipedalWalker-v3: n_timesteps: !!float 5e5 @@ -55,11 +63,10 @@ BipedalWalkerHardcore-v3: ent_coef: 'auto' gamma: 0.99 tau: 0.01 - train_freq: 64 - gradient_steps: 64 + train_freq: 1 + gradient_steps: 1 learning_starts: 10000 - use_sde: True - policy_kwargs: "dict(log_std_init=-3, net_arch=[400, 300], use_expln=True)" + policy_kwargs: "dict(net_arch=[400, 300])" # === Bullet envs === diff --git a/rl-trained-agents b/rl-trained-agents index b10f6cf5a..83f477ed1 160000 --- a/rl-trained-agents +++ b/rl-trained-agents @@ -1 +1 @@ -Subproject commit b10f6cf5a0ccc60940f48a70ac0c91e99a03dfc5 +Subproject commit 83f477ed1dcd634b5132ff8dce41e6987cf7e5e8 From 6172d4ac79f09a219bdcd6d4d4762d78dc4e1c69 Mon Sep 17 00:00:00 2001 From: Antonin Raffin Date: Fri, 5 Mar 2021 10:46:51 +0100 Subject: [PATCH 12/29] Catch keyboard interrupt for enjoy --- enjoy.py | 84 +++++++++++++++++++++++++++++--------------------------- 1 file changed, 44 insertions(+), 40 deletions(-) diff --git a/enjoy.py b/enjoy.py index 64ea76cd9..4c1344a07 100644 --- a/enjoy.py +++ b/enjoy.py @@ -154,46 +154,50 @@ def main(): # noqa: C901 ep_len = 0 # For HER, monitor success rate successes = [] - for _ in range(args.n_timesteps): - action, state = model.predict(obs, state=state, deterministic=deterministic) - obs, reward, done, infos = env.step(action) - if not args.no_render: - env.render("human") - - episode_reward += reward[0] - ep_len += 1 - - if args.n_envs == 1: - # For atari the return reward is not the atari score - # so we have to get it from the infos dict - if is_atari and infos is not None and args.verbose >= 1: - episode_infos = infos[0].get("episode") - if episode_infos is not None: - print(f"Atari Episode Score: {episode_infos['r']:.2f}") - print("Atari Episode Length", episode_infos["l"]) - - if done and not is_atari and args.verbose > 0: - # NOTE: for env using VecNormalize, the mean reward - # is a normalized reward when `--norm_reward` flag is passed - print(f"Episode Reward: {episode_reward:.2f}") - print("Episode Length", ep_len) - episode_rewards.append(episode_reward) - episode_lengths.append(ep_len) - episode_reward = 0.0 - ep_len = 0 - state = None - - # Reset also when the goal is achieved when using HER - if done and infos[0].get("is_success") is not None: - if args.verbose > 1: - print("Success?", infos[0].get("is_success", False)) - # Alternatively, you can add a check to wait for the end of the episode - if done: - obs = env.reset() - if infos[0].get("is_success") is not None: - successes.append(infos[0].get("is_success", False)) - episode_reward, ep_len = 0.0, 0 - + try: + for _ in range(args.n_timesteps): + action, state = model.predict(obs, state=state, deterministic=deterministic) + obs, reward, done, infos = env.step(action) + if not args.no_render: + env.render("human") + + episode_reward += reward[0] + ep_len += 1 + + if args.n_envs == 1: + # For atari the return reward is not the atari score + # so we have to get it from the infos dict + if is_atari and infos is not None and args.verbose >= 1: + episode_infos = infos[0].get("episode") + if episode_infos is not None: + print(f"Atari Episode Score: {episode_infos['r']:.2f}") + print("Atari Episode Length", episode_infos["l"]) + + if done and not is_atari and args.verbose > 0: + # NOTE: for env using VecNormalize, the mean reward + # is a normalized reward when `--norm_reward` flag is passed + print(f"Episode Reward: {episode_reward:.2f}") + print("Episode Length", ep_len) + episode_rewards.append(episode_reward) + episode_lengths.append(ep_len) + episode_reward = 0.0 + ep_len = 0 + state = None + + # Reset also when the goal is achieved when using HER + if done and infos[0].get("is_success") is not None: + if args.verbose > 1: + print("Success?", infos[0].get("is_success", False)) + # Alternatively, you can add a check to wait for the end of the episode + if done: + obs = env.reset() + if infos[0].get("is_success") is not None: + successes.append(infos[0].get("is_success", False)) + episode_reward, ep_len = 0.0, 0 + + except KeyboardInterrupt: + pass + if args.verbose > 0 and len(successes) > 0: print(f"Success rate: {100 * np.mean(successes):.2f}%") From 4a912b4bcb161af18aaac7031a2d65a307284e3d Mon Sep 17 00:00:00 2001 From: Antonin Raffin Date: Fri, 5 Mar 2021 11:13:30 +0100 Subject: [PATCH 13/29] Update benchmark --- benchmark.md | 4 +++- rl-trained-agents | 2 +- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/benchmark.md b/benchmark.md index f90a0e40d..100b9cf7c 100644 --- a/benchmark.md +++ b/benchmark.md @@ -31,7 +31,7 @@ and also allow users to have access to pretrained agents.* |a2c |MountainCar-v0 | -111.263| 24.087|1M | 149982| 1348| |a2c |MountainCarContinuous-v0 | 91.166| 0.255|100k | 149923| 1659| |a2c |Pendulum-v0 | -162.965| 103.210|1M | 150000| 750| -|a2c |PongNoFrameskip-v4 | 15.578| 2.351|10M | 600740| 64| +|a2c |PongNoFrameskip-v4 | 17.292| 3.214|10M | 594910| 65| |a2c |QbertNoFrameskip-v4 | 3882.345| 1223.327|10M | 610670| 194| |a2c |SpaceInvadersNoFrameskip-v4| 627.160| 201.974|10M | 604848| 162| |a2c |Walker2DBulletEnv-v0 | 858.209| 333.116|2M | 149156| 173| @@ -47,6 +47,7 @@ and also allow users to have access to pretrained agents.* |dqn |BeamRiderNoFrameskip-v4 | 4295.946| 1790.458|10M | 600832| 37| |dqn |BreakoutNoFrameskip-v4 | 358.327| 61.981|10M | 601461| 55| |dqn |CartPole-v1 | 500.000| 0.000|50k | 150000| 300| +|dqn |EnduroNoFrameskip-v4 | 830.929| 194.544|10M | 599040| 14| |dqn |LunarLander-v2 | 154.382| 79.241|100k | 149373| 200| |dqn |MountainCar-v0 | -100.849| 9.925|120k | 149962| 1487| |dqn |PongNoFrameskip-v4 | 20.602| 0.613|10M | 598998| 88| @@ -59,6 +60,7 @@ and also allow users to have access to pretrained agents.* |ppo |BipedalWalker-v3 | 213.299| 129.490|5M | 149826| 233| |ppo |BreakoutNoFrameskip-v4 | 398.033| 33.328|10M | 600418| 60| |ppo |CartPole-v1 | 500.000| 0.000|100k | 150000| 300| +|ppo |EnduroNoFrameskip-v4 | 996.364| 176.090|10M | 572416| 11| |ppo |HalfCheetahBulletEnv-v0 | 2924.721| 64.465|2M | 150000| 150| |ppo |HopperBulletEnv-v0 | 2575.054| 223.301|2M | 149094| 152| |ppo |LunarLander-v2 | 242.119| 31.823|1M | 149636| 369| diff --git a/rl-trained-agents b/rl-trained-agents index 83f477ed1..eb444ab9f 160000 --- a/rl-trained-agents +++ b/rl-trained-agents @@ -1 +1 @@ -Subproject commit 83f477ed1dcd634b5132ff8dce41e6987cf7e5e8 +Subproject commit eb444ab9f268b2f07d928cfd888686878ce8fd9e From 239559397c87bf88153df63b7c6f1994b1244e13 Mon Sep 17 00:00:00 2001 From: Antonin Raffin Date: Fri, 5 Mar 2021 11:14:28 +0100 Subject: [PATCH 14/29] Update README and changelog --- CHANGELOG.md | 5 +- README.md | 146 ++++++++++++++++++++++++++++----------------------- version.txt | 2 +- 3 files changed, 85 insertions(+), 68 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 7d3cde722..d06be7664 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,8 +1,9 @@ -## Release 1.0rc0 (WIP) +## Release 1.0rc1 (WIP) ### Breaking Changes ### New Features +- Added 90+ trained agents + benchmark file ### Bug fixes - Bug fixes for `HER` handling action noise @@ -10,7 +11,7 @@ ### Documentation ### Other - +- Updated `HER` hyperparameters ## Pre-Release 0.11.1 (2021-02-27) diff --git a/README.md b/README.md index b80696831..2f0c7a4c5 100644 --- a/README.md +++ b/README.md @@ -19,37 +19,6 @@ Goals of this repository: This is the SB3 version of the original SB2 [rl-zoo](https://github.com/araffin/rl-baselines-zoo). -## Enjoy a Trained Agent - -**Note: to download the repo with the trained agents, you must use `git clone --recursive https://github.com/DLR-RM/rl-baselines3-zoo`** in order to clone the submodule too. - - -If the trained agent exists, then you can see it in action using: -``` -python enjoy.py --algo algo_name --env env_id -``` - -For example, enjoy A2C on Breakout during 5000 timesteps: -``` -python enjoy.py --algo a2c --env BreakoutNoFrameskip-v4 --folder rl-trained-agents/ -n 5000 -``` - -If you have trained an agent yourself, you need to do: -``` -# exp-id 0 corresponds to the last experiment, otherwise, you can specify another ID -python enjoy.py --algo algo_name --env env_id -f logs/ --exp-id 0 -``` - -To load the best model (when using evaluation environment): -``` -python enjoy.py --algo algo_name --env env_id -f logs/ --exp-id 1 --load-best -``` - -To load a checkpoint (here the checkpoint name is `rl_model_10000_steps.zip`): -``` -python enjoy.py --algo algo_name --env env_id -f logs/ --exp-id 1 --load-checkpoint 10000 -``` - ## Train an Agent The hyperparameters for each environment are defined in `hyperparameters/algo_name.yml`. @@ -85,6 +54,46 @@ python train.py --algo sac --env Pendulum-v0 --save-replay-buffer ``` It will be automatically loaded if present when continuing training. +## Plot Scripts + +Plot scripts (to be documented, see "Results" sections in SB3 documentation): +- `scripts/all_plots.py`/`scripts/plot_from_file.py` for plotting evaluations +- `scripts/plot_train.py` for plotting training reward/success + +## Custom Environment + +The easiest way to add support for a custom environment is to edit `utils/import_envs.py` and register your environment here. Then, you need to add a section for it in the hyperparameters file (`hyperparams/algo.yml`). + +## Enjoy a Trained Agent + +**Note: to download the repo with the trained agents, you must use `git clone --recursive https://github.com/DLR-RM/rl-baselines3-zoo`** in order to clone the submodule too. + + +If the trained agent exists, then you can see it in action using: +``` +python enjoy.py --algo algo_name --env env_id +``` + +For example, enjoy A2C on Breakout during 5000 timesteps: +``` +python enjoy.py --algo a2c --env BreakoutNoFrameskip-v4 --folder rl-trained-agents/ -n 5000 +``` + +If you have trained an agent yourself, you need to do: +``` +# exp-id 0 corresponds to the last experiment, otherwise, you can specify another ID +python enjoy.py --algo algo_name --env env_id -f logs/ --exp-id 0 +``` + +To load the best model (when using evaluation environment): +``` +python enjoy.py --algo algo_name --env env_id -f logs/ --exp-id 1 --load-best +``` + +To load a checkpoint (here the checkpoint name is `rl_model_10000_steps.zip`): +``` +python enjoy.py --algo algo_name --env env_id -f logs/ --exp-id 1 --load-checkpoint 10000 +``` ## Hyperparameter yaml syntax @@ -160,7 +169,7 @@ for multiple, specify a list: env_wrapper: - utils.wrappers.DoneOnSuccessWrapper: reward_offset: 1.0 - - utils.wrappers.TimeFeatureWrapper + - sb3_contrib.common.wrappers.TimeFeatureWrapper ``` Note that you can easily specify parameters too. @@ -181,6 +190,8 @@ You can easily overwrite hyperparameters in the command line, using ``--hyperpar python train.py --algo a2c --env MountainCarContinuous-v0 --hyperparams learning_rate:0.001 policy_kwargs:"dict(net_arch=[64, 64])" ``` +Note: if you want to pass a string, you need to escape it like that: `my_string:"'value'"` + ## Record a Video of a Trained Agent Record 1000 steps: @@ -190,9 +201,9 @@ python -m utils.record_video --algo ppo --env BipedalWalkerHardcore-v2 -n 1000 ``` -## Current Collection: to be added soon (after v1.0 release) +## Current Collection: 90+ Trained Agents! -Final performance of the trained agents can be found in `benchmark.md`. To compute them, simply run `python -m utils.benchmark`. +Final performance of the trained agents can be found in [`benchmark.md`](./benchmark.md). To compute them, simply run `python -m utils.benchmark`. *NOTE: this is not a quantitative benchmark as it corresponds to only one run (cf [issue #38](https://github.com/araffin/rl-baselines-zoo/issues/38)). This benchmark is meant to check algorithm (maximal) performance, find potential bugs and also allow users to have access to pretrained agents.* @@ -202,10 +213,10 @@ Final performance of the trained agents can be found in `benchmark.md`. To compu | RL Algo | BeamRider | Breakout | Enduro | Pong | Qbert | Seaquest | SpaceInvaders | |----------|--------------------|--------------------|--------------------|-------|-------|--------------------|--------------------| -| A2C | | | | | | | | -| PPO | | | | | | | | -| DQN | | | | | | | | - +| A2C | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | | :heavy_check_mark: | +| PPO | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | | :heavy_check_mark: | +| DQN | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | | :heavy_check_mark: | +| QR-DQN | :heavy_check_mark: | :heavy_check_mark: | | :heavy_check_mark: | :heavy_check_mark: | | :heavy_check_mark: | Additional Atari Games (to be completed): @@ -214,30 +225,34 @@ Additional Atari Games (to be completed): | A2C | | | PPO | | | DQN | | +| QR-DQN | | ### Classic Control Environments | RL Algo | CartPole-v1 | MountainCar-v0 | Acrobot-v1 | Pendulum-v0 | MountainCarContinuous-v0 | |----------|--------------|----------------|------------|--------------|--------------------------| -| A2C | | | | | | -| PPO | | | | | | -| DQN | | | | N/A | N/A | -| DDPG | N/A | N/A | N/A | | | -| SAC | N/A | N/A | N/A | | | -| TD3 | N/A | N/A | N/A | | | +| A2C | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | +| PPO | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | +| DQN | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | N/A | N/A | +| QR-DQN | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | N/A | N/A | +| DDPG | N/A | N/A | N/A | :heavy_check_mark: | :heavy_check_mark: | +| SAC | N/A | N/A | N/A | :heavy_check_mark: | :heavy_check_mark: | +| TD3 | N/A | N/A | N/A | :heavy_check_mark: | :heavy_check_mark: | +| TQC | N/A | N/A | N/A | :heavy_check_mark: | :heavy_check_mark: | ### Box2D Environments -| RL Algo | BipedalWalker-v2 | LunarLander-v2 | LunarLanderContinuous-v2 | BipedalWalkerHardcore-v2 | CarRacing-v0 | +| RL Algo | BipedalWalker-v3 | LunarLander-v2 | LunarLanderContinuous-v2 | BipedalWalkerHardcore-v3 | CarRacing-v0 | |----------|--------------|----------------|------------|--------------|--------------------------| -| A2C | | | | | | -| PPO | | | | | | -| DQN | N/A | | N/A | N/A | N/A | -| DDPG | | N/A | | | | -| SAC | | N/A | | | | -| TD3 | | N/A | | | | -| TRPO | | | | | | +| A2C | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | | | +| PPO | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | | | +| DQN | N/A | :heavy_check_mark: | N/A | N/A | N/A | +| QR-DQN | N/A | :heavy_check_mark: | N/A | N/A | N/A | +| DDPG | :heavy_check_mark: | N/A | :heavy_check_mark: | | | +| SAC | :heavy_check_mark: | N/A | :heavy_check_mark: | | | +| TD3 | :heavy_check_mark: | N/A | :heavy_check_mark: | | | +| TQC | :heavy_check_mark: | N/A | :heavy_check_mark: | | | ### PyBullet Environments @@ -248,23 +263,23 @@ Note: those environments are derived from [Roboschool](https://github.com/openai | RL Algo | Walker2D | HalfCheetah | Ant | Reacher | Hopper | Humanoid | |----------|-----------|-------------|-----|---------|---------|----------| -| A2C | | | | | | | -| PPO | | | | | | | -| DDPG | | | | | | | -| SAC | | | | | | | -| TD3 | | | | | | | -| TRPO | | | | | | | +| A2C | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | | :heavy_check_mark: | | +| PPO | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | | :heavy_check_mark: | | +| DDPG | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | | :heavy_check_mark: | | +| SAC | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | | :heavy_check_mark: | | +| TD3 | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | | :heavy_check_mark: | | +| TQC | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | | :heavy_check_mark: | | PyBullet Envs (Continued) | RL Algo | Minitaur | MinitaurDuck | InvertedDoublePendulum | InvertedPendulumSwingup | |----------|-----------|-------------|-----|---------| | A2C | | | | | -| PPO | | | | | +| PPO | | | | | | DDPG | | | | | -| SAC | | | | | -| TD3 | | | | | -| TRPO | | | | | +| SAC | | | | | +| TD3 | | | | | +| TQC | | | | | ### MiniGrid Envs @@ -281,7 +296,7 @@ A simple, lightweight and fast Gym environments implementation of the famous gri There are 19 environment groups (variations for each) in total. -Note that you need to specify --gym-packages gym_minigrid with enjoy.py and train.py as it is not a standard Gym environment, as well as installing the custom Gym package module or putting it in python path. +Note that you need to specify `--gym-packages gym_minigrid` with `enjoy.py` and `train.py` as it is not a standard Gym environment, as well as installing the custom Gym package module or putting it in python path. ``` pip install gym-minigrid @@ -310,7 +325,8 @@ You can train agents online using [colab notebook](https://colab.research.google ### Stable-Baselines3 PyPi Package -Min version: stable-baselines3[extra] >= 0.6.0 +Min version: stable-baselines3[extra] >= 1.0 +and sb3_contrib >= 1.0 ``` apt-get install swig cmake ffmpeg @@ -364,7 +380,7 @@ make type To cite this repository in publications: -``` +```bibtex @misc{rl-zoo3, author = {Raffin, Antonin}, title = {RL Baselines3 Zoo}, diff --git a/version.txt b/version.txt index 2d14d7bcb..0f82de4c2 100644 --- a/version.txt +++ b/version.txt @@ -1 +1 @@ -1.0r0 +1.0rc1 From 1b9611c185188fdffc3f2ad5d056cd9d90f9d1fe Mon Sep 17 00:00:00 2001 From: Antonin Raffin Date: Fri, 5 Mar 2021 11:30:43 +0100 Subject: [PATCH 15/29] Tuned DDPG hyperparam --- hyperparams/ddpg.yml | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/hyperparams/ddpg.yml b/hyperparams/ddpg.yml index 54ffec311..90cab3d00 100644 --- a/hyperparams/ddpg.yml +++ b/hyperparams/ddpg.yml @@ -136,7 +136,7 @@ HumanoidBulletEnv-v0: learning_rate: !!float 1e-3 policy_kwargs: "dict(net_arch=[400, 300])" -# To be tuned +# Tuned ReacherBulletEnv-v0: env_wrapper: sb3_contrib.common.wrappers.TimeFeatureWrapper n_timesteps: !!float 3e5 @@ -146,8 +146,7 @@ ReacherBulletEnv-v0: learning_starts: 10000 noise_type: 'normal' noise_std: 0.1 - gradient_steps: -1 - train_freq: [1, "episode"] + train_freq: 1 learning_rate: !!float 1e-3 policy_kwargs: "dict(net_arch=[400, 300])" From ef04597fa4a1e83cb9358c66f08f2cc4be2b66b9 Mon Sep 17 00:00:00 2001 From: Antonin Raffin Date: Fri, 5 Mar 2021 11:31:49 +0100 Subject: [PATCH 16/29] Update TD3 hyperparams --- hyperparams/td3.yml | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/hyperparams/td3.yml b/hyperparams/td3.yml index 7d88b9a54..8a21a1244 100644 --- a/hyperparams/td3.yml +++ b/hyperparams/td3.yml @@ -54,8 +54,8 @@ BipedalWalkerHardcore-v3: noise_type: 'normal' noise_std: 0.1 gradient_steps: -1 - train_freq: [1, "episode"] - learning_rate: !!float 1e-3 + train_freq: 1 + learning_rate: lin_1e-3 policy_kwargs: "dict(net_arch=[400, 300])" # Tuned @@ -126,8 +126,7 @@ HumanoidBulletEnv-v0: learning_starts: 10000 noise_type: 'normal' noise_std: 0.1 - gradient_steps: -1 - train_freq: [1, "episode"] + train_freq: 1 learning_rate: !!float 1e-3 policy_kwargs: "dict(net_arch=[400, 300])" From 597a3048152616b2c1b35acc97b177cadf762279 Mon Sep 17 00:00:00 2001 From: Antonin Raffin Date: Fri, 5 Mar 2021 11:32:06 +0100 Subject: [PATCH 17/29] Minor edit --- hyperparams/td3.yml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/hyperparams/td3.yml b/hyperparams/td3.yml index 8a21a1244..df3518b88 100644 --- a/hyperparams/td3.yml +++ b/hyperparams/td3.yml @@ -48,7 +48,7 @@ BipedalWalker-v3: BipedalWalkerHardcore-v3: n_timesteps: !!float 1e7 policy: 'MlpPolicy' - gamma: 0.98 + gamma: 0.99 buffer_size: 200000 learning_starts: 10000 noise_type: 'normal' From 4c2acb108dfa8ded889544ac981a87248896724d Mon Sep 17 00:00:00 2001 From: Antonin Raffin Date: Fri, 5 Mar 2021 13:40:02 +0100 Subject: [PATCH 18/29] Add Reacher --- benchmark.md | 6 ++++++ rl-trained-agents | 2 +- 2 files changed, 7 insertions(+), 1 deletion(-) diff --git a/benchmark.md b/benchmark.md index 100b9cf7c..c24d9e3c9 100644 --- a/benchmark.md +++ b/benchmark.md @@ -33,6 +33,7 @@ and also allow users to have access to pretrained agents.* |a2c |Pendulum-v0 | -162.965| 103.210|1M | 150000| 750| |a2c |PongNoFrameskip-v4 | 17.292| 3.214|10M | 594910| 65| |a2c |QbertNoFrameskip-v4 | 3882.345| 1223.327|10M | 610670| 194| +|a2c |ReacherBulletEnv-v0 | 14.968| 10.978|2M | 150000| 1000| |a2c |SpaceInvadersNoFrameskip-v4| 627.160| 201.974|10M | 604848| 162| |a2c |Walker2DBulletEnv-v0 | 858.209| 333.116|2M | 149156| 173| |ddpg |AntBulletEnv-v0 | 2399.147| 75.410|1M | 150000| 150| @@ -42,6 +43,7 @@ and also allow users to have access to pretrained agents.* |ddpg |LunarLanderContinuous-v2 | 230.217| 92.372|300k | 149862| 556| |ddpg |MountainCarContinuous-v0 | 93.512| 0.048|300k | 149965| 2260| |ddpg |Pendulum-v0 | -152.099| 94.282|20k | 150000| 750| +|ddpg |ReacherBulletEnv-v0 | 15.582| 9.606|300k | 150000| 1000| |ddpg |Walker2DBulletEnv-v0 | 1387.591| 736.955|1M | 149051| 208| |dqn |Acrobot-v1 | -76.639| 11.752|100k | 149998| 1932| |dqn |BeamRiderNoFrameskip-v4 | 4295.946| 1790.458|10M | 600832| 37| @@ -70,6 +72,7 @@ and also allow users to have access to pretrained agents.* |ppo |Pendulum-v0 | -169.887| 104.904|2M | 150000| 750| |ppo |PongNoFrameskip-v4 | 20.989| 0.105|10M | 599902| 90| |ppo |QbertNoFrameskip-v4 | 15627.108| 3313.538|10M | 600248| 83| +|ppo |ReacherBulletEnv-v0 | 17.091| 11.048|1M | 150000| 1000| |ppo |SpaceInvadersNoFrameskip-v4| 960.331| 425.355|10M | 603771| 136| |ppo |Walker2DBulletEnv-v0 | 2109.992| 13.899|2M | 150000| 150| |qrdqn|Acrobot-v1 | -69.135| 9.967|100k | 149949| 2138| @@ -88,6 +91,7 @@ and also allow users to have access to pretrained agents.* |sac |LunarLanderContinuous-v2 | 260.390| 65.467|500k | 149634| 672| |sac |MountainCarContinuous-v0 | 94.679| 1.134|50k | 149966| 1443| |sac |Pendulum-v0 | -156.995| 88.714|20k | 150000| 750| +|sac |ReacherBulletEnv-v0 | 18.062| 9.729|300k | 150000| 1000| |sac |Walker2DBulletEnv-v0 | 2292.266| 13.970|1M | 149983| 150| |td3 |AntBulletEnv-v0 | 3300.026| 54.640|1M | 150000| 150| |td3 |BipedalWalker-v3 | 305.990| 56.886|1M | 149999| 224| @@ -96,6 +100,7 @@ and also allow users to have access to pretrained agents.* |td3 |LunarLanderContinuous-v2 | 207.451| 67.562|300k | 149488| 337| |td3 |MountainCarContinuous-v0 | 93.483| 0.075|300k | 149976| 2275| |td3 |Pendulum-v0 | -151.855| 90.227|20k | 150000| 750| +|td3 |ReacherBulletEnv-v0 | 17.114| 9.750|300k | 150000| 1000| |td3 |Walker2DBulletEnv-v0 | 204.727| 115.196|1M | 149927| 1338| |tqc |AntBulletEnv-v0 | 3456.717| 248.733|1M | 150000| 150| |tqc |BipedalWalker-v3 | 329.808| 45.083|500k | 149682| 254| @@ -104,4 +109,5 @@ and also allow users to have access to pretrained agents.* |tqc |LunarLanderContinuous-v2 | 277.956| 25.466|500k | 149928| 706| |tqc |MountainCarContinuous-v0 | 63.641| 45.259|50k | 149796| 186| |tqc |Pendulum-v0 | -151.340| 87.893|20k | 150000| 750| +|tqc |ReacherBulletEnv-v0 | 18.255| 9.543|300k | 150000| 1000| |tqc |Walker2DBulletEnv-v0 | 2508.934| 614.624|1M | 149572| 159| diff --git a/rl-trained-agents b/rl-trained-agents index eb444ab9f..93bea5c27 160000 --- a/rl-trained-agents +++ b/rl-trained-agents @@ -1 +1 @@ -Subproject commit eb444ab9f268b2f07d928cfd888686878ce8fd9e +Subproject commit 93bea5c27e234f0ae06e3b883ace3c24f5fe4a6b From 164c2d1162686fed7228e6b0eeb1601e68e12f90 Mon Sep 17 00:00:00 2001 From: Antonin Raffin Date: Fri, 5 Mar 2021 13:42:05 +0100 Subject: [PATCH 19/29] Update table --- README.md | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/README.md b/README.md index 2f0c7a4c5..e6c7a35c6 100644 --- a/README.md +++ b/README.md @@ -263,12 +263,12 @@ Note: those environments are derived from [Roboschool](https://github.com/openai | RL Algo | Walker2D | HalfCheetah | Ant | Reacher | Hopper | Humanoid | |----------|-----------|-------------|-----|---------|---------|----------| -| A2C | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | | :heavy_check_mark: | | -| PPO | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | | :heavy_check_mark: | | -| DDPG | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | | :heavy_check_mark: | | -| SAC | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | | :heavy_check_mark: | | -| TD3 | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | | :heavy_check_mark: | | -| TQC | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | | :heavy_check_mark: | | +| A2C | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | | +| PPO | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | | +| DDPG | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | | +| SAC | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | | +| TD3 | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | | +| TQC | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | | PyBullet Envs (Continued) From 7441e47e2b8701b049e1a1f5eebf781ddf22ca0e Mon Sep 17 00:00:00 2001 From: Antonin Raffin Date: Sat, 6 Mar 2021 15:07:11 +0100 Subject: [PATCH 20/29] Ugrade SB3 --- .dockerignore | 19 ++++++++++++++++++- CHANGELOG.md | 1 + requirements.txt | 4 ++-- scripts/build_docker.sh | 2 +- 4 files changed, 22 insertions(+), 4 deletions(-) mode change 120000 => 100644 .dockerignore diff --git a/.dockerignore b/.dockerignore deleted file mode 120000 index 3e4e48b0b..000000000 --- a/.dockerignore +++ /dev/null @@ -1 +0,0 @@ -.gitignore \ No newline at end of file diff --git a/.dockerignore b/.dockerignore new file mode 100644 index 000000000..2ef69dc1b --- /dev/null +++ b/.dockerignore @@ -0,0 +1,18 @@ +__pycache__/ +logs +.pytest_cache/ +.coverage +.coverage.* +.idea/ +cluster_sbatch.sh +cluster_sbatch_mpi.sh +cluster_torchy.sh +logs/ +rl-trained_agents/ +.pytype/ +htmlcov/ +git_rewrite_commit_history.sh +.vscode/ +# ignore for docker builds +rl-trained-agents/ +.git/ diff --git a/CHANGELOG.md b/CHANGELOG.md index d06be7664..090a4340c 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,6 +1,7 @@ ## Release 1.0rc1 (WIP) ### Breaking Changes +- Upgrade to SB3 >= 1.0rc1 ### New Features - Added 90+ trained agents + benchmark file diff --git a/requirements.txt b/requirements.txt index 92fde19ac..ff68e6d97 100644 --- a/requirements.txt +++ b/requirements.txt @@ -1,4 +1,4 @@ -stable-baselines3[extra,tests,docs]>=0.11.1 +stable-baselines3[extra,tests,docs]>=1.0rc1 box2d-py==2.3.8 pybullet gym-minigrid @@ -7,4 +7,4 @@ optuna pytablewriter seaborn pyyaml>=5.1 -sb3-contrib>=0.11.1 +sb3-contrib>=1.0rc1 diff --git a/scripts/build_docker.sh b/scripts/build_docker.sh index 48484f5f1..699f607fd 100755 --- a/scripts/build_docker.sh +++ b/scripts/build_docker.sh @@ -3,7 +3,7 @@ PARENT=stablebaselines/stable-baselines3 TAG=stablebaselines/rl-baselines3-zoo -VERSION=0.11.1 +VERSION=1.0 if [[ ${USE_GPU} == "True" ]]; then PARENT="${PARENT}:${VERSION}" From 4cadd46d5dc76cb2ff4d1954d281cf36cfd8f126 Mon Sep 17 00:00:00 2001 From: Antonin Raffin Date: Sat, 6 Mar 2021 15:17:57 +0100 Subject: [PATCH 21/29] Add support for loading saved models with python 3.8 --- .github/workflows/trained_agents.yml | 3 +-- CHANGELOG.md | 1 + enjoy.py | 17 +++++++++++++++-- 3 files changed, 17 insertions(+), 4 deletions(-) diff --git a/.github/workflows/trained_agents.yml b/.github/workflows/trained_agents.yml index 792b94606..8f2774057 100644 --- a/.github/workflows/trained_agents.yml +++ b/.github/workflows/trained_agents.yml @@ -16,8 +16,7 @@ jobs: runs-on: ubuntu-latest strategy: matrix: - python-version: [3.6, 3.7] # 3.8 not supported yet due to cloudpickle errors - + python-version: [3.6, 3.7, 3.8] steps: - uses: actions/checkout@v2 with: diff --git a/CHANGELOG.md b/CHANGELOG.md index 090a4340c..2fb25068f 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -5,6 +5,7 @@ ### New Features - Added 90+ trained agents + benchmark file +- Add support for loading saved model under python 3.8+ (no retraining possible) ### Bug fixes - Bug fixes for `HER` handling action noise diff --git a/enjoy.py b/enjoy.py index 4c1344a07..e3f5afb75 100644 --- a/enjoy.py +++ b/enjoy.py @@ -1,6 +1,7 @@ import argparse import importlib import os +import sys import numpy as np import torch as th @@ -140,7 +141,19 @@ def main(): # noqa: C901 # Dummy buffer size as we don't need memory to enjoy the trained agent kwargs.update(dict(buffer_size=1)) - model = ALGOS[algo].load(model_path, env=env, **kwargs) + # Check if we are running python 3.8+ + # we need to patch saved model under python 3.6/3.7 to load them + newer_python_version = sys.version_info.major == 3 and sys.version_info.minor >= 8 + + custom_objects = {} + if newer_python_version: + custom_objects = { + "learning_rate": 0.0, + "lr_schedule": lambda _: 0.0, + "clip_range": lambda _: 0.0, + } + + model = ALGOS[algo].load(model_path, env=env, custom_objects=custom_objects, **kwargs) obs = env.reset() @@ -197,7 +210,7 @@ def main(): # noqa: C901 except KeyboardInterrupt: pass - + if args.verbose > 0 and len(successes) > 0: print(f"Success rate: {100 * np.mean(successes):.2f}%") From 52693c616c65a1496236bb43927c50d64e071f2b Mon Sep 17 00:00:00 2001 From: Antonin Raffin Date: Sat, 6 Mar 2021 15:59:06 +0100 Subject: [PATCH 22/29] Upgrade SB3 --- CHANGELOG.md | 4 ++-- requirements.txt | 2 +- version.txt | 2 +- 3 files changed, 4 insertions(+), 4 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 2fb25068f..827b80925 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,7 +1,7 @@ -## Release 1.0rc1 (WIP) +## Release 1.0rc2 (WIP) ### Breaking Changes -- Upgrade to SB3 >= 1.0rc1 +- Upgrade to SB3 >= 1.0rc2 ### New Features - Added 90+ trained agents + benchmark file diff --git a/requirements.txt b/requirements.txt index ff68e6d97..1c57872a1 100644 --- a/requirements.txt +++ b/requirements.txt @@ -1,4 +1,4 @@ -stable-baselines3[extra,tests,docs]>=1.0rc1 +stable-baselines3[extra,tests,docs]>=1.0rc2 box2d-py==2.3.8 pybullet gym-minigrid diff --git a/version.txt b/version.txt index 0f82de4c2..db805d35e 100644 --- a/version.txt +++ b/version.txt @@ -1 +1 @@ -1.0rc1 +1.0rc2 From 9debc19a902345ed26284ef33b76e75408c46f1f Mon Sep 17 00:00:00 2001 From: Antonin Raffin Date: Mon, 8 Mar 2021 10:14:20 +0100 Subject: [PATCH 23/29] Add BipedalWalkerHardcore --- benchmark.md | 4 ++++ rl-trained-agents | 2 +- 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/benchmark.md b/benchmark.md index c24d9e3c9..519b4f00c 100644 --- a/benchmark.md +++ b/benchmark.md @@ -21,6 +21,7 @@ and also allow users to have access to pretrained agents.* |a2c |AntBulletEnv-v0 | 2497.147| 37.359|2M | 150000| 150| |a2c |BeamRiderNoFrameskip-v4 | 2890.298| 1379.137|10M | 591104| 47| |a2c |BipedalWalker-v3 | 299.754| 23.459|5M | 149287| 208| +|a2c |BipedalWalkerHardcore-v3 | 96.171| 122.943|200M | 149704| 113| |a2c |BreakoutNoFrameskip-v4 | 279.793| 122.177|10M | 604115| 82| |a2c |CartPole-v1 | 500.000| 0.000|500k | 150000| 300| |a2c |EnduroNoFrameskip-v4 | 0.000| 0.000|10M | 599040| 45| @@ -60,6 +61,7 @@ and also allow users to have access to pretrained agents.* |ppo |AntBulletEnv-v0 | 2865.922| 56.468|2M | 150000| 150| |ppo |BeamRiderNoFrameskip-v4 | 3397.000| 1662.368|10M | 598926| 46| |ppo |BipedalWalker-v3 | 213.299| 129.490|5M | 149826| 233| +|ppo |BipedalWalkerHardcore-v3 | 122.374| 117.605|100M | 148036| 105| |ppo |BreakoutNoFrameskip-v4 | 398.033| 33.328|10M | 600418| 60| |ppo |CartPole-v1 | 500.000| 0.000|100k | 150000| 300| |ppo |EnduroNoFrameskip-v4 | 996.364| 176.090|10M | 572416| 11| @@ -95,6 +97,7 @@ and also allow users to have access to pretrained agents.* |sac |Walker2DBulletEnv-v0 | 2292.266| 13.970|1M | 149983| 150| |td3 |AntBulletEnv-v0 | 3300.026| 54.640|1M | 150000| 150| |td3 |BipedalWalker-v3 | 305.990| 56.886|1M | 149999| 224| +|td3 |BipedalWalkerHardcore-v3 | -98.116| 16.087|10M | 150000| 75| |td3 |HalfCheetahBulletEnv-v0 | 2821.641| 19.722|1M | 150000| 150| |td3 |HopperBulletEnv-v0 | 2681.609| 27.806|1M | 149486| 150| |td3 |LunarLanderContinuous-v2 | 207.451| 67.562|300k | 149488| 337| @@ -104,6 +107,7 @@ and also allow users to have access to pretrained agents.* |td3 |Walker2DBulletEnv-v0 | 204.727| 115.196|1M | 149927| 1338| |tqc |AntBulletEnv-v0 | 3456.717| 248.733|1M | 150000| 150| |tqc |BipedalWalker-v3 | 329.808| 45.083|500k | 149682| 254| +|tqc |BipedalWalkerHardcore-v3 | 235.226| 110.569|2M | 149032| 131| |tqc |HalfCheetahBulletEnv-v0 | 3675.299| 17.681|1M | 150000| 150| |tqc |HopperBulletEnv-v0 | 2662.373| 206.210|1M | 149881| 151| |tqc |LunarLanderContinuous-v2 | 277.956| 25.466|500k | 149928| 706| diff --git a/rl-trained-agents b/rl-trained-agents index 93bea5c27..861700bd8 160000 --- a/rl-trained-agents +++ b/rl-trained-agents @@ -1 +1 @@ -Subproject commit 93bea5c27e234f0ae06e3b883ace3c24f5fe4a6b +Subproject commit 861700bd8ed8b02b150182f6afee6a0fc63c134e From d5f75ffbdd8569f47f18569162fa2c0d537cc706 Mon Sep 17 00:00:00 2001 From: Antonin Raffin Date: Mon, 8 Mar 2021 12:07:56 +0100 Subject: [PATCH 24/29] Changed pybullet version in CI --- .github/workflows/ci.yml | 4 +++- .github/workflows/trained_agents.yml | 4 +++- 2 files changed, 6 insertions(+), 2 deletions(-) diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 42dc99c7e..2564a4725 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -30,7 +30,9 @@ jobs: run: | python -m pip install --upgrade pip # cpu version of pytorch - faster to download - pip install torch==1.7.1+cpu -f https://download.pytorch.org/whl/torch_stable.html + pip install torch==1.8.0+cpu -f https://download.pytorch.org/whl/torch_stable.html + # temp fix: use pybullet 3.0.8 (issue with numpy for 3.0.9) + pip install pybullet==3.0.8 pip install -r requirements.txt # Use headless version pip install opencv-python-headless diff --git a/.github/workflows/trained_agents.yml b/.github/workflows/trained_agents.yml index 8f2774057..98cdced99 100644 --- a/.github/workflows/trained_agents.yml +++ b/.github/workflows/trained_agents.yml @@ -29,7 +29,9 @@ jobs: run: | python -m pip install --upgrade pip # cpu version of pytorch - faster to download - pip install torch==1.7.1+cpu -f https://download.pytorch.org/whl/torch_stable.html + pip install torch==1.8.0+cpu -f https://download.pytorch.org/whl/torch_stable.html + # temp fix: use pybullet 3.0.8 (issue with numpy for 3.0.9) + pip install pybullet==3.0.8 pip install -r requirements.txt # Use headless version pip install opencv-python-headless From a02f4fbfaefa1c24e9dadc11ff596dc51f740a90 Mon Sep 17 00:00:00 2001 From: Antonin Raffin Date: Tue, 9 Mar 2021 12:47:39 +0100 Subject: [PATCH 25/29] Add more Atari games --- benchmark.md | 13 +++++++++++++ hyperparams/sac.yml | 4 ++-- hyperparams/td3.yml | 6 +++--- rl-trained-agents | 2 +- 4 files changed, 19 insertions(+), 6 deletions(-) diff --git a/benchmark.md b/benchmark.md index 519b4f00c..7c01e28ee 100644 --- a/benchmark.md +++ b/benchmark.md @@ -19,6 +19,7 @@ and also allow users to have access to pretrained agents.* |-----|---------------------------|----------:|---------:|-----------|-------------:|------------:| |a2c |Acrobot-v1 | -83.353| 17.213|500k | 149979| 1778| |a2c |AntBulletEnv-v0 | 2497.147| 37.359|2M | 150000| 150| +|a2c |AsteroidsNoFrameskip-v4 | 1286.550| 423.750|10M | 614138| 258| |a2c |BeamRiderNoFrameskip-v4 | 2890.298| 1379.137|10M | 591104| 47| |a2c |BipedalWalker-v3 | 299.754| 23.459|5M | 149287| 208| |a2c |BipedalWalkerHardcore-v3 | 96.171| 122.943|200M | 149704| 113| @@ -35,6 +36,8 @@ and also allow users to have access to pretrained agents.* |a2c |PongNoFrameskip-v4 | 17.292| 3.214|10M | 594910| 65| |a2c |QbertNoFrameskip-v4 | 3882.345| 1223.327|10M | 610670| 194| |a2c |ReacherBulletEnv-v0 | 14.968| 10.978|2M | 150000| 1000| +|a2c |RoadRunnerNoFrameskip-v4 | 31671.512| 6364.085|10M | 606710| 172| +|a2c |SeaquestNoFrameskip-v4 | 1721.493| 105.339|10M | 599691| 67| |a2c |SpaceInvadersNoFrameskip-v4| 627.160| 201.974|10M | 604848| 162| |a2c |Walker2DBulletEnv-v0 | 858.209| 333.116|2M | 149156| 173| |ddpg |AntBulletEnv-v0 | 2399.147| 75.410|1M | 150000| 150| @@ -47,6 +50,7 @@ and also allow users to have access to pretrained agents.* |ddpg |ReacherBulletEnv-v0 | 15.582| 9.606|300k | 150000| 1000| |ddpg |Walker2DBulletEnv-v0 | 1387.591| 736.955|1M | 149051| 208| |dqn |Acrobot-v1 | -76.639| 11.752|100k | 149998| 1932| +|dqn |AsteroidsNoFrameskip-v4 | 782.687| 259.247|10M | 607962| 134| |dqn |BeamRiderNoFrameskip-v4 | 4295.946| 1790.458|10M | 600832| 37| |dqn |BreakoutNoFrameskip-v4 | 358.327| 61.981|10M | 601461| 55| |dqn |CartPole-v1 | 500.000| 0.000|50k | 150000| 300| @@ -55,10 +59,13 @@ and also allow users to have access to pretrained agents.* |dqn |MountainCar-v0 | -100.849| 9.925|120k | 149962| 1487| |dqn |PongNoFrameskip-v4 | 20.602| 0.613|10M | 598998| 88| |dqn |QbertNoFrameskip-v4 | 9496.774| 5399.633|10M | 605844| 124| +|dqn |RoadRunnerNoFrameskip-v4 | 40396.350| 7069.131|10M | 603257| 137| +|dqn |SeaquestNoFrameskip-v4 | 2000.290| 606.644|10M | 599505| 69| |dqn |SpaceInvadersNoFrameskip-v4| 622.742| 201.564|10M | 604311| 155| |her |parking-v0 | -6.970| 2.970|200k | 149980| 7106| |ppo |Acrobot-v1 | -73.506| 18.201|1M | 149979| 2013| |ppo |AntBulletEnv-v0 | 2865.922| 56.468|2M | 150000| 150| +|ppo |AsteroidsNoFrameskip-v4 | 2156.174| 744.640|10M | 602092| 149| |ppo |BeamRiderNoFrameskip-v4 | 3397.000| 1662.368|10M | 598926| 46| |ppo |BipedalWalker-v3 | 213.299| 129.490|5M | 149826| 233| |ppo |BipedalWalkerHardcore-v3 | 122.374| 117.605|100M | 148036| 105| @@ -75,9 +82,12 @@ and also allow users to have access to pretrained agents.* |ppo |PongNoFrameskip-v4 | 20.989| 0.105|10M | 599902| 90| |ppo |QbertNoFrameskip-v4 | 15627.108| 3313.538|10M | 600248| 83| |ppo |ReacherBulletEnv-v0 | 17.091| 11.048|1M | 150000| 1000| +|ppo |RoadRunnerNoFrameskip-v4 | 40680.645| 6675.058|10M | 605786| 155| +|ppo |SeaquestNoFrameskip-v4 | 1783.636| 34.096|10M | 598243| 66| |ppo |SpaceInvadersNoFrameskip-v4| 960.331| 425.355|10M | 603771| 136| |ppo |Walker2DBulletEnv-v0 | 2109.992| 13.899|2M | 150000| 150| |qrdqn|Acrobot-v1 | -69.135| 9.967|100k | 149949| 2138| +|qrdqn|AsteroidsNoFrameskip-v4 | 2185.303| 1097.172|10M | 599784| 66| |qrdqn|BeamRiderNoFrameskip-v4 | 17122.941| 10769.997|10M | 596483| 17| |qrdqn|BreakoutNoFrameskip-v4 | 393.600| 79.828|10M | 579711| 40| |qrdqn|CartPole-v1 | 500.000| 0.000|50k | 150000| 300| @@ -85,9 +95,12 @@ and also allow users to have access to pretrained agents.* |qrdqn|MountainCar-v0 | -106.042| 15.536|120k | 149943| 1414| |qrdqn|PongNoFrameskip-v4 | 20.492| 0.687|10M | 597443| 63| |qrdqn|QbertNoFrameskip-v4 | 14799.728| 2917.629|10M | 600773| 92| +|qrdqn|RoadRunnerNoFrameskip-v4 | 42325.424| 8361.161|10M | 591016| 59| +|qrdqn|SeaquestNoFrameskip-v4 | 2557.576| 76.951|10M | 596275| 66| |qrdqn|SpaceInvadersNoFrameskip-v4| 1899.928| 823.488|10M | 597218| 69| |sac |AntBulletEnv-v0 | 3073.114| 175.148|1M | 150000| 150| |sac |BipedalWalker-v3 | 297.668| 33.060|500k | 149530| 136| +|sac |BipedalWalkerHardcore-v3 | 4.423| 103.910|10M | 149794| 88| |sac |HalfCheetahBulletEnv-v0 | 2792.170| 12.088|1M | 150000| 150| |sac |HopperBulletEnv-v0 | 2603.494| 164.322|1M | 149724| 151| |sac |LunarLanderContinuous-v2 | 260.390| 65.467|500k | 149634| 672| diff --git a/hyperparams/sac.yml b/hyperparams/sac.yml index 43acd70af..ddb609450 100644 --- a/hyperparams/sac.yml +++ b/hyperparams/sac.yml @@ -79,12 +79,12 @@ BipedalWalker-v3: # Almost tuned BipedalWalkerHardcore-v3: - n_timesteps: !!float 3e7 + n_timesteps: !!float 1e7 policy: 'MlpPolicy' learning_rate: lin_7.3e-4 buffer_size: 1000000 batch_size: 256 - ent_coef: 'auto' + ent_coef: 0.005 gamma: 0.99 tau: 0.01 train_freq: 1 diff --git a/hyperparams/td3.yml b/hyperparams/td3.yml index df3518b88..1c067a162 100644 --- a/hyperparams/td3.yml +++ b/hyperparams/td3.yml @@ -49,13 +49,13 @@ BipedalWalkerHardcore-v3: n_timesteps: !!float 1e7 policy: 'MlpPolicy' gamma: 0.99 - buffer_size: 200000 + buffer_size: 1000000 learning_starts: 10000 noise_type: 'normal' noise_std: 0.1 - gradient_steps: -1 + batch_size: 256 train_freq: 1 - learning_rate: lin_1e-3 + learning_rate: lin_7e-4 policy_kwargs: "dict(net_arch=[400, 300])" # Tuned diff --git a/rl-trained-agents b/rl-trained-agents index 861700bd8..6e4e1f07b 160000 --- a/rl-trained-agents +++ b/rl-trained-agents @@ -1 +1 @@ -Subproject commit 861700bd8ed8b02b150182f6afee6a0fc63c134e +Subproject commit 6e4e1f07beab4bf35ceebcfca23ce8e1b17af1e1 From ae953f4d235514df270ca8aed3269e45bc2d7e39 Mon Sep 17 00:00:00 2001 From: Antonin Raffin Date: Tue, 9 Mar 2021 12:53:09 +0100 Subject: [PATCH 26/29] Update README --- README.md | 35 ++++++++++++++++++----------------- 1 file changed, 18 insertions(+), 17 deletions(-) diff --git a/README.md b/README.md index e6c7a35c6..3c3c59158 100644 --- a/README.md +++ b/README.md @@ -2,7 +2,7 @@ -# RL Baselines3 Zoo: a Collection of Pre-Trained Reinforcement Learning Agents +# RL Baselines3 Zoo: a Collection of 100+ Pre-Trained Reinforcement Learning Agents @@ -201,7 +201,7 @@ python -m utils.record_video --algo ppo --env BipedalWalkerHardcore-v2 -n 1000 ``` -## Current Collection: 90+ Trained Agents! +## Current Collection: 100+ Trained Agents! Final performance of the trained agents can be found in [`benchmark.md`](./benchmark.md). To compute them, simply run `python -m utils.benchmark`. @@ -213,19 +213,20 @@ Final performance of the trained agents can be found in [`benchmark.md`](./bench | RL Algo | BeamRider | Breakout | Enduro | Pong | Qbert | Seaquest | SpaceInvaders | |----------|--------------------|--------------------|--------------------|-------|-------|--------------------|--------------------| -| A2C | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | | :heavy_check_mark: | -| PPO | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | | :heavy_check_mark: | -| DQN | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | | :heavy_check_mark: | -| QR-DQN | :heavy_check_mark: | :heavy_check_mark: | | :heavy_check_mark: | :heavy_check_mark: | | :heavy_check_mark: | +| A2C | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | +| PPO | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | +| DQN | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | +| QR-DQN | :heavy_check_mark: | :heavy_check_mark: | | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | Additional Atari Games (to be completed): -| RL Algo | MsPacman | -|----------|-------------| -| A2C | | -| PPO | | -| DQN | | -| QR-DQN | | +| RL Algo | MsPacman | Asteroids | RoadRunner | +|----------|-------------|-----------|------------| +| A2C | | :heavy_check_mark: | :heavy_check_mark: | +| PPO | | :heavy_check_mark: | :heavy_check_mark: | +| DQN | | :heavy_check_mark: | :heavy_check_mark: | +| QR-DQN | | :heavy_check_mark: | :heavy_check_mark: | + ### Classic Control Environments @@ -245,14 +246,14 @@ Additional Atari Games (to be completed): | RL Algo | BipedalWalker-v3 | LunarLander-v2 | LunarLanderContinuous-v2 | BipedalWalkerHardcore-v3 | CarRacing-v0 | |----------|--------------|----------------|------------|--------------|--------------------------| -| A2C | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | | | -| PPO | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | | | +| A2C | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | | +| PPO | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | | | DQN | N/A | :heavy_check_mark: | N/A | N/A | N/A | | QR-DQN | N/A | :heavy_check_mark: | N/A | N/A | N/A | | DDPG | :heavy_check_mark: | N/A | :heavy_check_mark: | | | -| SAC | :heavy_check_mark: | N/A | :heavy_check_mark: | | | -| TD3 | :heavy_check_mark: | N/A | :heavy_check_mark: | | | -| TQC | :heavy_check_mark: | N/A | :heavy_check_mark: | | | +| SAC | :heavy_check_mark: | N/A | :heavy_check_mark: | :heavy_check_mark: | | +| TD3 | :heavy_check_mark: | N/A | :heavy_check_mark: | :heavy_check_mark: | | +| TQC | :heavy_check_mark: | N/A | :heavy_check_mark: | :heavy_check_mark: | | ### PyBullet Environments From 40f3b5bd8b61a7c0eb09db336bc43f5eeff5bea6 Mon Sep 17 00:00:00 2001 From: Antonin Raffin Date: Tue, 9 Mar 2021 12:56:40 +0100 Subject: [PATCH 27/29] Add benchmark files --- logs/benchmark/a2c-Acrobot-v1/0.monitor.csv | 1780 +++++ .../a2c-AntBulletEnv-v0/0.monitor.csv | 152 + .../a2c-AsteroidsNoFrameskip-v4/0.monitor.csv | 260 + .../a2c-BeamRiderNoFrameskip-v4/0.monitor.csv | 49 + .../a2c-BipedalWalker-v3/0.monitor.csv | 210 + .../0.monitor.csv | 115 + .../a2c-BreakoutNoFrameskip-v4/0.monitor.csv | 84 + logs/benchmark/a2c-CartPole-v1/0.monitor.csv | 302 + .../a2c-EnduroNoFrameskip-v4/0.monitor.csv | 47 + .../a2c-HalfCheetahBulletEnv-v0/0.monitor.csv | 152 + .../a2c-HopperBulletEnv-v0/0.monitor.csv | 256 + .../a2c-LunarLander-v2/0.monitor.csv | 299 + .../0.monitor.csv | 258 + .../a2c-MountainCar-v0/0.monitor.csv | 1350 ++++ .../0.monitor.csv | 1661 ++++ logs/benchmark/a2c-Pendulum-v0/0.monitor.csv | 752 ++ .../a2c-PongNoFrameskip-v4/0.monitor.csv | 67 + .../a2c-QbertNoFrameskip-v4/0.monitor.csv | 196 + .../a2c-ReacherBulletEnv-v0/0.monitor.csv | 1002 +++ .../0.monitor.csv | 174 + .../a2c-SeaquestNoFrameskip-v4/0.monitor.csv | 69 + .../0.monitor.csv | 164 + .../a2c-Walker2DBulletEnv-v0/0.monitor.csv | 175 + logs/benchmark/benchmark.md | 130 + .../ddpg-AntBulletEnv-v0/0.monitor.csv | 152 + .../ddpg-BipedalWalker-v3/0.monitor.csv | 229 + .../0.monitor.csv | 152 + .../ddpg-HopperBulletEnv-v0/0.monitor.csv | 348 + .../0.monitor.csv | 558 ++ .../0.monitor.csv | 2262 ++++++ logs/benchmark/ddpg-Pendulum-v0/0.monitor.csv | 752 ++ .../ddpg-ReacherBulletEnv-v0/0.monitor.csv | 1002 +++ .../ddpg-Walker2DBulletEnv-v0/0.monitor.csv | 210 + logs/benchmark/dqn-Acrobot-v1/0.monitor.csv | 1934 +++++ .../dqn-AsteroidsNoFrameskip-v4/0.monitor.csv | 136 + .../dqn-BeamRiderNoFrameskip-v4/0.monitor.csv | 39 + .../dqn-BreakoutNoFrameskip-v4/0.monitor.csv | 57 + logs/benchmark/dqn-CartPole-v1/0.monitor.csv | 302 + .../dqn-EnduroNoFrameskip-v4/0.monitor.csv | 16 + .../dqn-LunarLander-v2/0.monitor.csv | 202 + .../dqn-MountainCar-v0/0.monitor.csv | 1489 ++++ .../dqn-PongNoFrameskip-v4/0.monitor.csv | 90 + .../dqn-QbertNoFrameskip-v4/0.monitor.csv | 126 + .../0.monitor.csv | 139 + .../dqn-SeaquestNoFrameskip-v4/0.monitor.csv | 71 + .../0.monitor.csv | 157 + logs/benchmark/her-parking-v0/0.monitor.csv | 7108 +++++++++++++++++ logs/benchmark/ppo-Acrobot-v1/0.monitor.csv | 2015 +++++ .../ppo-AntBulletEnv-v0/0.monitor.csv | 152 + .../ppo-AsteroidsNoFrameskip-v4/0.monitor.csv | 151 + .../ppo-BeamRiderNoFrameskip-v4/0.monitor.csv | 48 + .../ppo-BipedalWalker-v3/0.monitor.csv | 235 + .../0.monitor.csv | 107 + .../ppo-BreakoutNoFrameskip-v4/0.monitor.csv | 62 + 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diff --git a/logs/benchmark/benchmark.md b/logs/benchmark/benchmark.md new file mode 100644 index 000000000..7c01e28ee --- /dev/null +++ b/logs/benchmark/benchmark.md @@ -0,0 +1,130 @@ + +## Performance of trained agents + +Final performance of the trained agents can be found in the table below. +This was computed by running `python -m utils.benchmark`: +it runs the trained agent (trained on `n_timesteps`) for `eval_timesteps` and then reports the mean episode reward +during this evaluation. + +It uses the deterministic policy except for Atari games. + +*NOTE: this is not a quantitative benchmark as it corresponds to only one run +(cf [issue #38](https://github.com/araffin/rl-baselines-zoo/issues/38)). +This benchmark is meant to check algorithm (maximal) performance, find potential bugs +and also allow users to have access to pretrained agents.* + +"M" stands for Million (1e6) + +|algo | env_id |mean_reward|std_reward|n_timesteps|eval_timesteps|eval_episodes| +|-----|---------------------------|----------:|---------:|-----------|-------------:|------------:| +|a2c |Acrobot-v1 | -83.353| 17.213|500k | 149979| 1778| +|a2c |AntBulletEnv-v0 | 2497.147| 37.359|2M | 150000| 150| +|a2c |AsteroidsNoFrameskip-v4 | 1286.550| 423.750|10M | 614138| 258| +|a2c |BeamRiderNoFrameskip-v4 | 2890.298| 1379.137|10M | 591104| 47| +|a2c |BipedalWalker-v3 | 299.754| 23.459|5M | 149287| 208| +|a2c |BipedalWalkerHardcore-v3 | 96.171| 122.943|200M | 149704| 113| +|a2c |BreakoutNoFrameskip-v4 | 279.793| 122.177|10M | 604115| 82| +|a2c |CartPole-v1 | 500.000| 0.000|500k | 150000| 300| +|a2c |EnduroNoFrameskip-v4 | 0.000| 0.000|10M | 599040| 45| +|a2c |HalfCheetahBulletEnv-v0 | 2107.384| 36.008|2M | 150000| 150| +|a2c |HopperBulletEnv-v0 | 815.355| 313.798|2M | 149541| 254| +|a2c |LunarLander-v2 | 155.751| 80.419|200k | 149443| 297| +|a2c |LunarLanderContinuous-v2 | 84.225| 145.906|5M | 149305| 256| +|a2c |MountainCar-v0 | -111.263| 24.087|1M | 149982| 1348| +|a2c |MountainCarContinuous-v0 | 91.166| 0.255|100k | 149923| 1659| +|a2c |Pendulum-v0 | -162.965| 103.210|1M | 150000| 750| +|a2c |PongNoFrameskip-v4 | 17.292| 3.214|10M | 594910| 65| +|a2c |QbertNoFrameskip-v4 | 3882.345| 1223.327|10M | 610670| 194| +|a2c |ReacherBulletEnv-v0 | 14.968| 10.978|2M | 150000| 1000| +|a2c |RoadRunnerNoFrameskip-v4 | 31671.512| 6364.085|10M | 606710| 172| +|a2c |SeaquestNoFrameskip-v4 | 1721.493| 105.339|10M | 599691| 67| +|a2c |SpaceInvadersNoFrameskip-v4| 627.160| 201.974|10M | 604848| 162| +|a2c |Walker2DBulletEnv-v0 | 858.209| 333.116|2M | 149156| 173| +|ddpg |AntBulletEnv-v0 | 2399.147| 75.410|1M | 150000| 150| +|ddpg |BipedalWalker-v3 | 197.486| 141.580|1M | 149237| 227| +|ddpg |HalfCheetahBulletEnv-v0 | 2078.325| 208.379|1M | 150000| 150| +|ddpg |HopperBulletEnv-v0 | 1157.065| 448.695|1M | 149565| 346| +|ddpg |LunarLanderContinuous-v2 | 230.217| 92.372|300k | 149862| 556| +|ddpg |MountainCarContinuous-v0 | 93.512| 0.048|300k | 149965| 2260| +|ddpg |Pendulum-v0 | -152.099| 94.282|20k | 150000| 750| +|ddpg |ReacherBulletEnv-v0 | 15.582| 9.606|300k | 150000| 1000| +|ddpg |Walker2DBulletEnv-v0 | 1387.591| 736.955|1M | 149051| 208| +|dqn |Acrobot-v1 | -76.639| 11.752|100k | 149998| 1932| +|dqn |AsteroidsNoFrameskip-v4 | 782.687| 259.247|10M | 607962| 134| +|dqn |BeamRiderNoFrameskip-v4 | 4295.946| 1790.458|10M | 600832| 37| +|dqn |BreakoutNoFrameskip-v4 | 358.327| 61.981|10M | 601461| 55| +|dqn |CartPole-v1 | 500.000| 0.000|50k | 150000| 300| +|dqn |EnduroNoFrameskip-v4 | 830.929| 194.544|10M | 599040| 14| +|dqn |LunarLander-v2 | 154.382| 79.241|100k | 149373| 200| +|dqn |MountainCar-v0 | -100.849| 9.925|120k | 149962| 1487| +|dqn |PongNoFrameskip-v4 | 20.602| 0.613|10M | 598998| 88| +|dqn |QbertNoFrameskip-v4 | 9496.774| 5399.633|10M | 605844| 124| +|dqn |RoadRunnerNoFrameskip-v4 | 40396.350| 7069.131|10M | 603257| 137| +|dqn |SeaquestNoFrameskip-v4 | 2000.290| 606.644|10M | 599505| 69| +|dqn |SpaceInvadersNoFrameskip-v4| 622.742| 201.564|10M | 604311| 155| +|her |parking-v0 | -6.970| 2.970|200k | 149980| 7106| +|ppo |Acrobot-v1 | -73.506| 18.201|1M | 149979| 2013| +|ppo |AntBulletEnv-v0 | 2865.922| 56.468|2M | 150000| 150| +|ppo |AsteroidsNoFrameskip-v4 | 2156.174| 744.640|10M | 602092| 149| +|ppo |BeamRiderNoFrameskip-v4 | 3397.000| 1662.368|10M | 598926| 46| +|ppo |BipedalWalker-v3 | 213.299| 129.490|5M | 149826| 233| +|ppo |BipedalWalkerHardcore-v3 | 122.374| 117.605|100M | 148036| 105| +|ppo |BreakoutNoFrameskip-v4 | 398.033| 33.328|10M | 600418| 60| +|ppo |CartPole-v1 | 500.000| 0.000|100k | 150000| 300| +|ppo |EnduroNoFrameskip-v4 | 996.364| 176.090|10M | 572416| 11| +|ppo |HalfCheetahBulletEnv-v0 | 2924.721| 64.465|2M | 150000| 150| +|ppo |HopperBulletEnv-v0 | 2575.054| 223.301|2M | 149094| 152| +|ppo |LunarLander-v2 | 242.119| 31.823|1M | 149636| 369| +|ppo |LunarLanderContinuous-v2 | 270.863| 32.072|1M | 149956| 526| +|ppo |MountainCar-v0 | -110.423| 19.473|1M | 149954| 1358| +|ppo |MountainCarContinuous-v0 | 88.343| 2.572|20k | 149983| 633| +|ppo |Pendulum-v0 | -169.887| 104.904|2M | 150000| 750| +|ppo |PongNoFrameskip-v4 | 20.989| 0.105|10M | 599902| 90| +|ppo |QbertNoFrameskip-v4 | 15627.108| 3313.538|10M | 600248| 83| +|ppo |ReacherBulletEnv-v0 | 17.091| 11.048|1M | 150000| 1000| +|ppo |RoadRunnerNoFrameskip-v4 | 40680.645| 6675.058|10M | 605786| 155| +|ppo |SeaquestNoFrameskip-v4 | 1783.636| 34.096|10M | 598243| 66| +|ppo |SpaceInvadersNoFrameskip-v4| 960.331| 425.355|10M | 603771| 136| +|ppo |Walker2DBulletEnv-v0 | 2109.992| 13.899|2M | 150000| 150| +|qrdqn|Acrobot-v1 | -69.135| 9.967|100k | 149949| 2138| +|qrdqn|AsteroidsNoFrameskip-v4 | 2185.303| 1097.172|10M | 599784| 66| +|qrdqn|BeamRiderNoFrameskip-v4 | 17122.941| 10769.997|10M | 596483| 17| +|qrdqn|BreakoutNoFrameskip-v4 | 393.600| 79.828|10M | 579711| 40| +|qrdqn|CartPole-v1 | 500.000| 0.000|50k | 150000| 300| +|qrdqn|LunarLander-v2 | 70.236| 225.491|100k | 149957| 522| +|qrdqn|MountainCar-v0 | -106.042| 15.536|120k | 149943| 1414| +|qrdqn|PongNoFrameskip-v4 | 20.492| 0.687|10M | 597443| 63| +|qrdqn|QbertNoFrameskip-v4 | 14799.728| 2917.629|10M | 600773| 92| +|qrdqn|RoadRunnerNoFrameskip-v4 | 42325.424| 8361.161|10M | 591016| 59| +|qrdqn|SeaquestNoFrameskip-v4 | 2557.576| 76.951|10M | 596275| 66| +|qrdqn|SpaceInvadersNoFrameskip-v4| 1899.928| 823.488|10M | 597218| 69| +|sac |AntBulletEnv-v0 | 3073.114| 175.148|1M | 150000| 150| +|sac |BipedalWalker-v3 | 297.668| 33.060|500k | 149530| 136| +|sac |BipedalWalkerHardcore-v3 | 4.423| 103.910|10M | 149794| 88| +|sac |HalfCheetahBulletEnv-v0 | 2792.170| 12.088|1M | 150000| 150| +|sac |HopperBulletEnv-v0 | 2603.494| 164.322|1M | 149724| 151| +|sac |LunarLanderContinuous-v2 | 260.390| 65.467|500k | 149634| 672| +|sac |MountainCarContinuous-v0 | 94.679| 1.134|50k | 149966| 1443| +|sac |Pendulum-v0 | -156.995| 88.714|20k | 150000| 750| +|sac |ReacherBulletEnv-v0 | 18.062| 9.729|300k | 150000| 1000| +|sac |Walker2DBulletEnv-v0 | 2292.266| 13.970|1M | 149983| 150| +|td3 |AntBulletEnv-v0 | 3300.026| 54.640|1M | 150000| 150| +|td3 |BipedalWalker-v3 | 305.990| 56.886|1M | 149999| 224| +|td3 |BipedalWalkerHardcore-v3 | -98.116| 16.087|10M | 150000| 75| +|td3 |HalfCheetahBulletEnv-v0 | 2821.641| 19.722|1M | 150000| 150| +|td3 |HopperBulletEnv-v0 | 2681.609| 27.806|1M | 149486| 150| +|td3 |LunarLanderContinuous-v2 | 207.451| 67.562|300k | 149488| 337| +|td3 |MountainCarContinuous-v0 | 93.483| 0.075|300k | 149976| 2275| +|td3 |Pendulum-v0 | -151.855| 90.227|20k | 150000| 750| +|td3 |ReacherBulletEnv-v0 | 17.114| 9.750|300k | 150000| 1000| +|td3 |Walker2DBulletEnv-v0 | 204.727| 115.196|1M | 149927| 1338| +|tqc |AntBulletEnv-v0 | 3456.717| 248.733|1M | 150000| 150| +|tqc |BipedalWalker-v3 | 329.808| 45.083|500k | 149682| 254| +|tqc |BipedalWalkerHardcore-v3 | 235.226| 110.569|2M | 149032| 131| +|tqc |HalfCheetahBulletEnv-v0 | 3675.299| 17.681|1M | 150000| 150| +|tqc |HopperBulletEnv-v0 | 2662.373| 206.210|1M | 149881| 151| +|tqc |LunarLanderContinuous-v2 | 277.956| 25.466|500k | 149928| 706| +|tqc |MountainCarContinuous-v0 | 63.641| 45.259|50k | 149796| 186| +|tqc |Pendulum-v0 | -151.340| 87.893|20k | 150000| 750| +|tqc |ReacherBulletEnv-v0 | 18.255| 9.543|300k | 150000| 1000| +|tqc |Walker2DBulletEnv-v0 | 2508.934| 614.624|1M | 149572| 159| diff --git a/logs/benchmark/ddpg-AntBulletEnv-v0/0.monitor.csv b/logs/benchmark/ddpg-AntBulletEnv-v0/0.monitor.csv new file mode 100644 index 000000000..7e64d4d4a --- /dev/null +++ b/logs/benchmark/ddpg-AntBulletEnv-v0/0.monitor.csv @@ -0,0 +1,152 @@ +#{"t_start": 1614774104.99725, "env_id": "AntBulletEnv-v0"} +r,l,t +2354.789012,1000,3.644599 +2444.404912,1000,4.685179 +2422.671372,1000,5.769603 +2390.951185,1000,6.834801 +2457.184395,1000,7.878474 +2453.093527,1000,8.915735 +2367.284463,1000,10.014736 +2448.285333,1000,11.05223 +2360.827084,1000,12.092841 +2291.089996,1000,13.142155 +2425.580966,1000,14.189354 +2420.370632,1000,15.228998 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a/logs/benchmark/qrdqn-PongNoFrameskip-v4/0.monitor.csv b/logs/benchmark/qrdqn-PongNoFrameskip-v4/0.monitor.csv new file mode 100644 index 000000000..ac410f988 --- /dev/null +++ b/logs/benchmark/qrdqn-PongNoFrameskip-v4/0.monitor.csv @@ -0,0 +1,65 @@ +#{"t_start": 1614779925.3269277, "env_id": "PongNoFrameskip-v4"} +r,l,t +21.0,7947,5.600472 +21.0,8442,8.701368 +20.0,9634,12.226275 +20.0,9762,15.790657 +20.0,9609,19.300387 +21.0,10585,23.16411 +21.0,7947,26.067608 +21.0,10205,29.791635 +21.0,7941,32.686685 +21.0,7941,35.583624 +21.0,9895,39.196352 +21.0,9949,42.81496 +21.0,9895,46.414241 +19.0,12324,50.903394 +19.0,11473,55.076255 +21.0,7878,57.940445 +21.0,9895,61.542388 +21.0,8279,64.549082 +20.0,9625,68.059175 +21.0,8678,71.209772 +21.0,7947,74.102408 +21.0,8817,77.327215 +20.0,10751,81.23354 +21.0,7947,84.124312 +21.0,10029,87.772565 +21.0,7941,90.660588 +21.0,8096,93.601612 +21.0,7947,96.499756 +20.0,8959,99.759803 +20.0,12466,104.28981 +20.0,8357,107.329129 +21.0,11809,111.624942 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+2560.0,9082,244.280681 +2560.0,9114,248.011547 diff --git a/logs/benchmark/qrdqn-SpaceInvadersNoFrameskip-v4/0.monitor.csv b/logs/benchmark/qrdqn-SpaceInvadersNoFrameskip-v4/0.monitor.csv new file mode 100644 index 000000000..754108180 --- /dev/null +++ b/logs/benchmark/qrdqn-SpaceInvadersNoFrameskip-v4/0.monitor.csv @@ -0,0 +1,71 @@ +#{"t_start": 1614780157.951553, "env_id": "SpaceInvadersNoFrameskip-v4"} +r,l,t +1860.0,9433,6.017921 +1175.0,5897,8.11461 +2030.0,8071,10.982974 +1205.0,5963,13.093197 +545.0,2807,14.085371 +2715.0,11574,18.185369 +2360.0,10915,22.055546 +2695.0,12400,26.42824 +2150.0,10363,30.087275 +1200.0,6444,32.357866 +1230.0,6287,34.576591 +1235.0,5855,36.641079 +1775.0,8365,39.598783 +1235.0,5743,41.63625 +1200.0,5490,43.575229 +2615.0,14253,48.580082 +545.0,3365,49.769976 +1805.0,8265,52.685741 +2030.0,9036,55.880196 +1230.0,6311,58.104826 +2200.0,9673,61.514868 +1200.0,6015,63.640325 +1860.0,8851,66.758578 +1435.0,5937,68.859172 +600.0,3857,70.211838 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00:00:00 2001 From: Antonin Raffin Date: Thu, 11 Mar 2021 10:59:59 +0100 Subject: [PATCH 28/29] Add QR-DQN Enduro --- benchmark.md | 1 + logs/benchmark/benchmark.md | 1 + rl-trained-agents | 2 +- 3 files changed, 3 insertions(+), 1 deletion(-) diff --git a/benchmark.md b/benchmark.md index 7c01e28ee..0821e2e2f 100644 --- a/benchmark.md +++ b/benchmark.md @@ -91,6 +91,7 @@ and also allow users to have access to pretrained agents.* |qrdqn|BeamRiderNoFrameskip-v4 | 17122.941| 10769.997|10M | 596483| 17| |qrdqn|BreakoutNoFrameskip-v4 | 393.600| 79.828|10M | 579711| 40| |qrdqn|CartPole-v1 | 500.000| 0.000|50k | 150000| 300| +|qrdqn|EnduroNoFrameskip-v4 | 3231.200| 1311.801|10M | 585728| 5| |qrdqn|LunarLander-v2 | 70.236| 225.491|100k | 149957| 522| |qrdqn|MountainCar-v0 | -106.042| 15.536|120k | 149943| 1414| |qrdqn|PongNoFrameskip-v4 | 20.492| 0.687|10M | 597443| 63| diff --git a/logs/benchmark/benchmark.md b/logs/benchmark/benchmark.md index 7c01e28ee..0821e2e2f 100644 --- a/logs/benchmark/benchmark.md +++ b/logs/benchmark/benchmark.md @@ -91,6 +91,7 @@ and also allow users to have access to pretrained agents.* |qrdqn|BeamRiderNoFrameskip-v4 | 17122.941| 10769.997|10M | 596483| 17| |qrdqn|BreakoutNoFrameskip-v4 | 393.600| 79.828|10M | 579711| 40| |qrdqn|CartPole-v1 | 500.000| 0.000|50k | 150000| 300| +|qrdqn|EnduroNoFrameskip-v4 | 3231.200| 1311.801|10M | 585728| 5| |qrdqn|LunarLander-v2 | 70.236| 225.491|100k | 149957| 522| |qrdqn|MountainCar-v0 | -106.042| 15.536|120k | 149943| 1414| |qrdqn|PongNoFrameskip-v4 | 20.492| 0.687|10M | 597443| 63| diff --git a/rl-trained-agents b/rl-trained-agents index 6e4e1f07b..3fb7bad76 160000 --- a/rl-trained-agents +++ b/rl-trained-agents @@ -1 +1 @@ -Subproject commit 6e4e1f07beab4bf35ceebcfca23ce8e1b17af1e1 +Subproject commit 3fb7bad760c6e0899e4f9dacc83908aaecf8a9b9 From 11f6266afce7d5367a548c10ba9c66c2eac9cdc5 Mon Sep 17 00:00:00 2001 From: Antonin Raffin Date: Thu, 11 Mar 2021 11:04:58 +0100 Subject: [PATCH 29/29] Update README + bug fix for HER enjoy --- CHANGELOG.md | 1 + README.md | 6 +++--- enjoy.py | 4 +--- 3 files changed, 5 insertions(+), 6 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 827b80925..adf412e5d 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -9,6 +9,7 @@ ### Bug fixes - Bug fixes for `HER` handling action noise +- Fixed double reset bug with `HER` and enjoy script ### Documentation diff --git a/README.md b/README.md index 3c3c59158..74fcaf00b 100644 --- a/README.md +++ b/README.md @@ -2,11 +2,11 @@ -# RL Baselines3 Zoo: a Collection of 100+ Pre-Trained Reinforcement Learning Agents +# RL Baselines3 Zoo: A Training Framework for Stable Baselines3 Reinforcement Learning Agents -A collection of trained Reinforcement Learning (RL) agents, with tuned hyperparameters, using [Stable Baselines3](https://github.com/DLR-RM/stable-baselines3). +A Training Framework for Reinforcement Learning (RL), together with a collection of trained agents, with tuned hyperparameters, using [Stable Baselines3](https://github.com/DLR-RM/stable-baselines3). We are **looking for contributors** to complete the collection! @@ -216,7 +216,7 @@ Final performance of the trained agents can be found in [`benchmark.md`](./bench | A2C | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | | PPO | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | | DQN | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | -| QR-DQN | :heavy_check_mark: | :heavy_check_mark: | | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | +| QR-DQN | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | Additional Atari Games (to be completed): diff --git a/enjoy.py b/enjoy.py index e3f5afb75..d0eb64cfa 100644 --- a/enjoy.py +++ b/enjoy.py @@ -201,9 +201,7 @@ def main(): # noqa: C901 if done and infos[0].get("is_success") is not None: if args.verbose > 1: print("Success?", infos[0].get("is_success", False)) - # Alternatively, you can add a check to wait for the end of the episode - if done: - obs = env.reset() + if infos[0].get("is_success") is not None: successes.append(infos[0].get("is_success", False)) episode_reward, ep_len = 0.0, 0