74 lines
2.5 KiB
Python
74 lines
2.5 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_250421_total_force 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=2)
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name = "d1a3o12_250421_forces02+head_force*var001_2"
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model = PPO.load(os.path.join(parent_dir, "models", "250421", "d1a3o12_250421_forces02+head_force*var001"), env=vec_env, device=torch.device("cuda:2"))
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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:1"),
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# # n_steps=3000,
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# # batch_size=300,
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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(500):
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model.learn(total_timesteps=400)
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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(300):
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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[-100:])
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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", "250421", name + ".zip"))
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if i % 10 == 0:
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model.save(os.path.join(parent_dir, "models", "250421", name + f"_{i}.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) |