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ved1 2023-06-01 16:21:57 +02:00
parent 5967b6d0cc
commit 4d57be91cd
2 changed files with 16 additions and 12 deletions
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26
train.py
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@ -20,7 +20,7 @@ from video import VideoRecorder
from agent.baseline_agent import BaselineAgent
from agent.bisim_agent import BisimAgent
from agent.deepmdp_agent import DeepMDPAgent
from agents.navigation.carla_env import CarlaEnv
#from agents.navigation.carla_env import CarlaEnv
def parse_args():
@ -34,14 +34,15 @@ def parse_args():
parser.add_argument('--resource_files', type=str)
parser.add_argument('--eval_resource_files', type=str)
parser.add_argument('--img_source', default=None, type=str, choices=['color', 'noise', 'images', 'video', 'none'])
parser.add_argument('--total_frames', default=1000, type=int)
parser.add_argument('--total_frames', default=100, type=int)
parser.add_argument('--high_noise', action='store_true')
# replay buffer
parser.add_argument('--replay_buffer_capacity', default=1000000, type=int)
parser.add_argument('--replay_buffer_capacity', default=50000, type=int)
# train
parser.add_argument('--agent', default='bisim', type=str, choices=['baseline', 'bisim', 'deepmdp'])
parser.add_argument('--init_steps', default=1000, type=int)
parser.add_argument('--num_train_steps', default=1000000, type=int)
parser.add_argument('--batch_size', default=512, type=int)
parser.add_argument('--num_train_steps', default=1000050, type=int)
parser.add_argument('--batch_size', default=128, type=int) # 512
parser.add_argument('--hidden_dim', default=256, type=int)
parser.add_argument('--k', default=3, type=int, help='number of steps for inverse model')
parser.add_argument('--bisim_coef', default=0.5, type=float, help='coefficient for bisim terms')
@ -50,12 +51,12 @@ def parse_args():
parser.add_argument('--eval_freq', default=10, type=int) # TODO: master had 10000
parser.add_argument('--num_eval_episodes', default=20, type=int)
# critic
parser.add_argument('--critic_lr', default=1e-3, type=float)
parser.add_argument('--critic_lr', default=1e-5, type=float)
parser.add_argument('--critic_beta', default=0.9, type=float)
parser.add_argument('--critic_tau', default=0.005, type=float)
parser.add_argument('--critic_target_update_freq', default=2, type=int)
# actor
parser.add_argument('--actor_lr', default=1e-3, type=float)
parser.add_argument('--actor_lr', default=1e-5, type=float)
parser.add_argument('--actor_beta', default=0.9, type=float)
parser.add_argument('--actor_log_std_min', default=-10, type=float)
parser.add_argument('--actor_log_std_max', default=2, type=float)
@ -63,19 +64,19 @@ def parse_args():
# encoder/decoder
parser.add_argument('--encoder_type', default='pixel', type=str, choices=['pixel', 'pixelCarla096', 'pixelCarla098', 'identity'])
parser.add_argument('--encoder_feature_dim', default=50, type=int)
parser.add_argument('--encoder_lr', default=1e-3, type=float)
parser.add_argument('--encoder_lr', default=1e-5, type=float)
parser.add_argument('--encoder_tau', default=0.005, type=float)
parser.add_argument('--encoder_stride', default=1, type=int)
parser.add_argument('--decoder_type', default='pixel', type=str, choices=['pixel', 'identity', 'contrastive', 'reward', 'inverse', 'reconstruction'])
parser.add_argument('--decoder_lr', default=1e-3, type=float)
parser.add_argument('--decoder_lr', default=1e-5, type=float)
parser.add_argument('--decoder_update_freq', default=1, type=int)
parser.add_argument('--decoder_weight_lambda', default=0.0, type=float)
parser.add_argument('--num_layers', default=4, type=int)
parser.add_argument('--num_filters', default=32, type=int)
# sac
parser.add_argument('--discount', default=0.99, type=float)
parser.add_argument('--init_temperature', default=0.01, type=float)
parser.add_argument('--alpha_lr', default=1e-3, type=float)
parser.add_argument('--init_temperature', default=0.1, type=float)
parser.add_argument('--alpha_lr', default=1e-4, type=float)
parser.add_argument('--alpha_beta', default=0.9, type=float)
# misc
parser.add_argument('--seed', default=1, type=int)
@ -88,6 +89,9 @@ def parse_args():
parser.add_argument('--render', default=False, action='store_true')
parser.add_argument('--port', default=2000, type=int)
args = parser.parse_args()
#from dmc2gym.wrappers import set_global_var
#set_global_var(args.high_noise)
return args

2
video.py
View File

@ -22,7 +22,7 @@ class VideoRecorder(object):
self.frames = []
if resource_files:
files = glob.glob(os.path.expanduser(resource_files))
self._bg_source = RandomVideoSource((height, width), files, grayscale=False, total_frames=1000)
self._bg_source = RandomVideoSource((height, width), files, grayscale=False, max_videos=50, random_bg=False)
else:
self._bg_source = None