72 lines
2.3 KiB
Python
72 lines
2.3 KiB
Python
import os
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os.environ['MKL_THREADING_LAYER'] = 'GNU'
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os.environ["OMP_NUM_THREADS"] = "8"
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os.environ["MKL_NUM_THREADS"] = "8"
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import torch
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import numpy as np
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from torch.nn import Module
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import gymnasium as gym
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from gym_env_sensonly import CustomEnv
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from stable_baselines3 import PPO
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from stable_baselines3.common.vec_env import SubprocVecEnv
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from stable_baselines3.common.vec_env import DummyVecEnv
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from sb3_contrib import RecurrentPPO
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from torch.utils.tensorboard import SummaryWriter
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import pickle
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current_dir = os.path.dirname(os.path.abspath("__file__"))
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parent_dir = os.path.abspath(os.path.join(current_dir, os.pardir))
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class Sin(Module):
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def __init__(self):
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super().__init__()
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def forward(self, x):
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return torch.sin(x)
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if __name__ == '__main__':
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vec_env = CustomEnv(device_id=3)
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name = "d1a3o12_sensonly_b0"
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# model = PPO.load(os.path.join(parent_dir, "models", "d1a3o12_sensonly_a0"), env=vec_env, device=torch.device("cuda:1"))
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model = PPO(
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"MlpPolicy",
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policy_kwargs=dict(activation_fn=Sin),
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env=vec_env,
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device=torch.device("cuda:3"),
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n_steps=7200,
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batch_size=720,
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verbose=0)
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writer = SummaryWriter(log_dir=os.path.join(parent_dir, "tensorboard", name))
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max_reward = 0
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history_data = []
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for i in range(100):
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model.learn(total_timesteps=7200)
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test_env = model.get_env()
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test_obs = test_env.reset()
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list_reward = []
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episolde_data = {'actions': [], 'observations': [], 'rewards': []}
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for step in range(360):
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test_action, _states = model.predict(observation=test_obs)
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test_obs, test_rewards, test_dones, info = test_env.step(test_action)
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list_reward.append(test_rewards)
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episolde_data['actions'].append(test_action[0, :])
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episolde_data['observations'].append(np.array(test_obs))
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episolde_data['rewards'].append(test_rewards)
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history_data.append(episolde_data)
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avg_reward = np.mean(list_reward[-180:])
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writer.add_scalar('Reward', np.mean(avg_reward), i)
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if avg_reward > max_reward:
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max_reward = avg_reward
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model.save(os.path.join(parent_dir, "models", name + ".zip"))
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with open(os.path.join(parent_dir, "output", name + ".pkl"), 'wb') as f:
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pickle.dump(history_data, f) |