diff --git a/configs/config.py b/configs/config.py index 030c9c72efe43e552bb1f2267de972a4a2300ec4..5a258fc6ef6576be3cb2461a0a50966852d3c912 100644 --- a/configs/config.py +++ b/configs/config.py @@ -302,7 +302,7 @@ def get_config(): parser.add_argument("--log_interval", type=int, default=1, help="time duration between contiunous twice log printing.") parser.add_argument("--model_dir", type=str, - default='./trained_models/8800_six_nights/run1/models', help="by default None. set the path to pretrained model.") + default='./trained_models/7010_after_christmas/run1/models', help="by default None. set the path to pretrained model.") # eval parameters parser.add_argument("--use_eval", action='store_true', diff --git a/scalarized_reward_wrapper.py b/scalarized_reward_wrapper.py index 3b982ab74236e50523fe0b37fdc16cd75ba3488e..035ec5edb0949409fc98428fa80cadcf93962179 100644 --- a/scalarized_reward_wrapper.py +++ b/scalarized_reward_wrapper.py @@ -55,15 +55,15 @@ class ScalarizedRewardWrapper(gym.RewardWrapper): - 0.5*reward[agent_id]['enemy_time_step_radars_detected'] for agent_id in reward }) - agent_id = 'g0' - print("position_error: ", 0.001*reward[agent_id]['position_error']) - print("enemy_position_error: ", -0.001*reward[agent_id]['enemy_position_error']) - #print("aircraft_share_detected: ", reward[agent_id]['aircraft_share_detected']) - print("share_radar_actions: ", 0.5*reward[agent_id]['share_radar_actions']) - #print("enemy_radar_share_detected: ", -reward[agent_id]['enemy_radar_share_detected']) - print("time_step_aircrafts_detected: ", reward[agent_id]['time_step_aircrafts_detected']) - print("enemy_time_step_radars_detected: ", -0.5*reward[agent_id]['enemy_time_step_radars_detected']) - print() + # agent_id = 'g0' + # print("position_error: ", 0.001*reward[agent_id]['position_error']) + # print("enemy_position_error: ", -0.001*reward[agent_id]['enemy_position_error']) + # print("aircraft_share_detected: ", reward[agent_id]['aircraft_share_detected']) + # print("share_radar_actions: ", 0.5*reward[agent_id]['share_radar_actions']) + # print("enemy_radar_share_detected: ", -reward[agent_id]['enemy_radar_share_detected']) + # print("time_step_aircrafts_detected: ", reward[agent_id]['time_step_aircrafts_detected']) + # print("enemy_time_step_radars_detected: ", -0.5*reward[agent_id]['enemy_time_step_radars_detected']) + # print() # if self.eval_==True: # new_reward = dict({ diff --git a/trained_models/7010_after_christmas/config.py b/trained_models/7010_after_christmas/config.py new file mode 100644 index 0000000000000000000000000000000000000000..49a56d956f19453b26a58c0aa0776bb0f8238615 --- /dev/null +++ b/trained_models/7010_after_christmas/config.py @@ -0,0 +1,331 @@ +import argparse +from behaviour import behaviour_choices + +def get_config(): + """ + The configuration parser for common hyperparameters of all environment. + Please reach each `scripts/train/<env>_runner.py` file to find private hyperparameters + only used in <env>. + + Prepare parameters: + --algorithm_name <algorithm_name> + specifiy the algorithm, including `["happo", "hatrpo"]` + --experiment_name <str> + an identifier to distinguish different experiment. + --seed <int> + set seed for numpy and torch + --seed_specify + by default True Random or specify seed for numpy/torch + --runing_id <int> + the runing index of experiment (default=1) + --cuda + by default True, will use GPU to train; or else will use CPU; + --cuda_deterministic + by default, make sure random seed effective. if set, bypass such function. + --n_training_threads <int> + number of training threads working in parallel. by default 1 + --n_rollout_threads <int> + number of parallel envs for training rollout. by default 32 + --n_eval_rollout_threads <int> + number of parallel envs for evaluating rollout. by default 1 + --n_render_rollout_threads <int> + number of parallel envs for rendering, could only be set as 1 for some environments. + --num_env_steps <int> + number of env steps to train (default: 10e6) + + + Env parameters: + --env_name <str> + specify the name of environment + --use_obs_instead_of_state + [only for some env] by default False, will use global state; or else will use concatenated local obs. + + Replay Buffer parameters: + --episode_length <int> + the max length of episode in the buffer. + + Network parameters: + --share_policy + by default True, all agents will share the same network; set to make training agents use different policies. + --use_centralized_V + by default True, use centralized training mode; or else will decentralized training mode. + --stacked_frames <int> + Number of input frames which should be stack together. + --hidden_size <int> + Dimension of hidden layers for actor/critic networks + --layer_N <int> + Number of layers for actor/critic networks + --use_ReLU + by default True, will use ReLU. or else will use Tanh. + --use_popart + by default True, use running mean and std to normalize rewards. + --use_feature_normalization + by default True, apply layernorm to normalize inputs. + --use_orthogonal + by default True, use Orthogonal initialization for weights and 0 initialization for biases. or else, will use xavier uniform inilialization. + --gain + by default 0.01, use the gain # of last action layer + --use_naive_recurrent_policy + by default False, use the whole trajectory to calculate hidden states. + --use_recurrent_policy + by default, use Recurrent Policy. If set, do not use. + --recurrent_N <int> + The number of recurrent layers ( default 1). + --data_chunk_length <int> + Time length of chunks used to train a recurrent_policy, default 10. + + Optimizer parameters: + --lr <float> + learning rate parameter, (default: 5e-4, fixed). + --critic_lr <float> + learning rate of critic (default: 5e-4, fixed) + --opti_eps <float> + RMSprop optimizer epsilon (default: 1e-5) + --weight_decay <float> + coefficience of weight decay (default: 0) + + TRPO parameters: + --kl_threshold <float> + the threshold of kl-divergence (default: 0.01) + --ls_step <int> + the step of line search (default: 10) + --accept_ratio <float> + accept ratio of loss improve (default: 0.5) + + PPO parameters: + --ppo_epoch <int> + number of ppo epochs (default: 15) + --use_clipped_value_loss + by default, clip loss value. If set, do not clip loss value. + --clip_param <float> + ppo clip parameter (default: 0.2) + --num_mini_batch <int> + number of batches for ppo (default: 1) + --entropy_coef <float> + entropy term coefficient (default: 0.01) + --use_max_grad_norm + by default, use max norm of gradients. If set, do not use. + --max_grad_norm <float> + max norm of gradients (default: 0.5) + --use_gae + by default, use generalized advantage estimation. If set, do not use gae. + --gamma <float> + discount factor for rewards (default: 0.99) + --gae_lambda <float> + gae lambda parameter (default: 0.95) + --use_proper_time_limits + by default, the return value does consider limits of time. If set, compute returns with considering time limits factor. + --use_huber_loss + by default, use huber loss. If set, do not use huber loss. + --use_value_active_masks + by default True, whether to mask useless data in value loss. + --huber_delta <float> + coefficient of huber loss. + + + Run parameters: + --use_linear_lr_decay + by default, do not apply linear decay to learning rate. If set, use a linear schedule on the learning rate + --save_interval <int> + time duration between contiunous twice models saving. + --log_interval <int> + time duration between contiunous twice log printing. + --model_dir <str> + by default None. set the path to pretrained model. + + Eval parameters: + --use_eval + by default, do not start evaluation. If set`, start evaluation alongside with training. + --eval_interval <int> + time duration between contiunous twice evaluation progress. + --eval_episodes <int> + number of episodes of a single evaluation. + + Render parameters: + --save_gifs + by default, do not save render video. If set, save video. + --use_render + by default, do not render the env during training. If set, start render. Note: something, the environment has internal render process which is not controlled by this hyperparam. + --render_episodes <int> + the number of episodes to render a given env + --ifi <float> + the play interval of each rendered image in saved video. + + Pretrained parameters: + + """ + parser = argparse.ArgumentParser(description='onpolicy_algorithm', formatter_class=argparse.RawDescriptionHelpFormatter) + + # prepare parameters + parser.add_argument("--algorithm_name", type=str, + default='happo', choices=["happo","hatrpo"]) + parser.add_argument("--experiment_name", type=str, + default="check", help="an identifier to distinguish different experiment.") + parser.add_argument("--seed", type=int, + default=1, help="Random seed for numpy/torch") + parser.add_argument("--seed_specify", action="store_true", + default=False, help="Random or specify seed for numpy/torch") + parser.add_argument("--red_behaviour", choices=behaviour_choices, type=str.lower, + default="simpleone", help="name of red behaviour to use for training. Ignored if rand_red_behaviour is True.") + parser.add_argument("--rand_red_behaviour", type=bool, + default=True, help="Randomizes opponent behaviour in each simulation for training. Uses red_behaviour if False.") + parser.add_argument("--rand_size", type=bool, + default=True, help="Randomizes both teams, teamsize in each simulation for training.") + parser.add_argument("--red_size", type=int, + default=2, help="2<=Size of red team<=7, works only with rand_size==false") + parser.add_argument("--green_size", type=int, + default=2, help="2<=Size of green team<=7, works only with rand_size==false") + parser.add_argument("--runing_id", type=int, + default=1, help="the runing index of experiment") + parser.add_argument("--cuda", action='store_false', + default=True, help="by default True, will use GPU to train; or else will use CPU;") + parser.add_argument("--cuda_deterministic", action='store_false', + default=False, help="by default, make sure random seed effective. if set, bypass such function.") + parser.add_argument("--n_training_threads", type=int, + default=1, help="Number of torch threads for training") + parser.add_argument("--n_rollout_threads", type=int, + default=20, help="Number of parallel envs for training rollouts") + parser.add_argument("--n_eval_rollout_threads", type=int, + default=1, help="Number of parallel envs for evaluating rollouts") + parser.add_argument("--n_render_rollout_threads", type=int, + default=1, help="Number of parallel envs for rendering rollouts") + parser.add_argument("--num_env_steps", type=int, + default=600*10*10000, help='Number of environment steps to train (default: 6000)') #600 ts x 20 rollout threads x 10 episode count + #time = 600*20*1000 / fps (250) + parser.add_argument("--user_name", type=str, + default='marl',help="[for wandb usage], to specify user's name for simply collecting training data.") + # env parameters + parser.add_argument("--env_name", type=str, + default='scontrol', help="specify the name of environment") + parser.add_argument("--use_obs_instead_of_state", action='store_true', + default=False, help="Whether to use global state or concatenated obs") + + # replay buffer parameters + parser.add_argument("--episode_length", type=int, + default=600, help="Max length for any episode") + + # network parameters + parser.add_argument("--share_policy", action='store_false', + default=True, help='Whether agent share the same policy') + parser.add_argument("--use_centralized_V", action='store_false', + default=True, help="Whether to use centralized V function") + parser.add_argument("--stacked_frames", type=int, + default=100, help="Dimension of hidden layers for actor/critic networks") + parser.add_argument("--use_stacked_frames", action='store_true', + default=True, help="Whether to use stacked_frames") + parser.add_argument("--hidden_size", type=int, + default=64, help="Dimension of hidden layers for actor/critic networks") + parser.add_argument("--layer_N", type=int, + default=2, help="Number of layers for actor/critic networks") + parser.add_argument("--use_ReLU", action='store_false', + default=True, help="Whether to use ReLU") + parser.add_argument("--use_popart", action='store_false', + default=False, help="by default True, use running mean and std to normalize rewards.") + parser.add_argument("--use_valuenorm", action='store_false', + default=False, help="by default True, use running mean and std to normalize rewards.") + parser.add_argument("--use_feature_normalization", action='store_false', + default=True, help="Whether to apply layernorm to the inputs") + parser.add_argument("--use_orthogonal", action='store_false', + default=True, help="Whether to use Orthogonal initialization for weights and 0 initialization for biases") + parser.add_argument("--gain", type=float, + default=0.01, help="The gain # of last action layer") + + # recurrent parameters + parser.add_argument("--use_naive_recurrent_policy", action='store_true', + default=False, help='Whether to use a naive recurrent policy') + parser.add_argument("--use_recurrent_policy", action='store_true', + default=False, help='use a recurrent policy') + parser.add_argument("--recurrent_N", type=int, + default=1, help="The number of recurrent layers.") + parser.add_argument("--data_chunk_length", type=int, + default=10, help="Time length of chunks used to train a recurrent_policy") + + # optimizer parameters + parser.add_argument("--lr", type=float, + default=5e-4, help='learning rate (default: 5e-4)') + parser.add_argument("--critic_lr", type=float, + default=5e-4, help='critic learning rate (default: 5e-4)') + parser.add_argument("--opti_eps", type=float, + default=1e-5, help='RMSprop optimizer epsilon (default: 1e-5)') + parser.add_argument("--weight_decay", type=float, default=0) + parser.add_argument("--std_x_coef", type=float, default=1) + parser.add_argument("--std_y_coef", type=float, default=0.5) + + + # trpo parameters + parser.add_argument("--kl_threshold", type=float, + default=0.01, help='the threshold of kl-divergence (default: 0.01)') + parser.add_argument("--ls_step", type=int, + default=10, help='number of line search (default: 10)') + parser.add_argument("--accept_ratio", type=float, + default=0.5, help='accept ratio of loss improve (default: 0.5)') + + # ppo parameters + parser.add_argument("--ppo_epoch", type=int, + default=10, help='number of ppo epochs (default: 15)') + parser.add_argument("--use_clipped_value_loss", action='store_false', + default=False, help="by default, clip loss value. If set, do not clip loss value.") + parser.add_argument("--clip_param", type=float, + default=0.2, help='ppo clip parameter (default: 0.2)') + parser.add_argument("--num_mini_batch", type=int, + default=1, help='number of batches for ppo (default: 1)') + parser.add_argument("--entropy_coef", type=float, + default=0.01, help='entropy term coefficient (default: 0.01)') + parser.add_argument("--value_loss_coef", type=float, + default=0.01, help='value loss coefficient (default: 0.5)') + parser.add_argument("--use_max_grad_norm", action='store_false', + default=True, help="by default, use max norm of gradients. If set, do not use.") + parser.add_argument("--max_grad_norm", type=float, + default=0.5, help='max norm of gradients (default: 0.5)') + parser.add_argument("--use_gae", action='store_false', + default=True, help='use generalized advantage estimation') + parser.add_argument("--gamma", type=float, default=0.99, + help='discount factor for rewards (default: 0.99)') + parser.add_argument("--gae_lambda", type=float, default=0.95, + help='gae lambda parameter (default: 0.95)') + parser.add_argument("--use_proper_time_limits", action='store_true', + default=True, help='compute returns taking into account time limits') + parser.add_argument("--use_huber_loss", action='store_false', + default=True, help="by default, use huber loss. If set, do not use huber loss.") + parser.add_argument("--use_value_active_masks", action='store_false', + default=True, help="by default True, whether to mask useless data in value loss.") + parser.add_argument("--use_policy_active_masks", action='store_false', + default=True, help="by default True, whether to mask useless data in policy loss.") + parser.add_argument("--huber_delta", type=float, + default=10.0, help=" coefficience of huber loss.") + + # run parameters + parser.add_argument("--use_linear_lr_decay", action='store_true', + default=False, help='use a linear schedule on the learning rate') + parser.add_argument("--save_interval", type=int, + default=10, help="time duration between contiunous twice models saving.") + parser.add_argument("--log_interval", type=int, + default=1, help="time duration between contiunous twice log printing.") + parser.add_argument("--model_dir", type=str, + default='./trained_models/9191_fournights/run1/models', help="by default None. set the path to pretrained model.") + + # eval parameters + parser.add_argument("--use_eval", action='store_true', + default=True, help="by default, do not start evaluation. If set`, start evaluation alongside with training.") + parser.add_argument("--eval_interval", type=int, + default=10, help="time duration between contiunous twice evaluation progress.") + parser.add_argument("--eval_episodes", type=int, + default=2, help="number of episodes of a single evaluation.") + parser.add_argument("--eval_render", type=bool, + default=False, help="visualizes the model every eval. works on top of the 'eval' setting in multiagent_rl_train.") + parser.add_argument("--visualise_delay", type=int, + default=1, help="numer of milliseconds to wait between steps when drawing eval render.") + parser.add_argument("--only_delay_middle", type=bool, + default=True, help="uses 0 delay for time < 150 and time > 350, and visualise delay for the middle") + + # render parameters + parser.add_argument("--save_gifs", action='store_true', + default=False, help="by default, do not save render video. If set, save video.") + parser.add_argument("--use_render", action='store_true', + default=False, help="by default, do not render the env during training. If set, start render. Note: something, the environment has internal render process which is not controlled by this hyperparam.") + parser.add_argument("--render_episodes", type=int, + default=5, help="the number of episodes to render a given env") + parser.add_argument("--ifi", type=float, + default=0.1, help="the play interval of each rendered image in saved video.") + + return parser \ No newline at end of file diff --git a/trained_models/7010_after_christmas/reward b/trained_models/7010_after_christmas/reward new file mode 100644 index 0000000000000000000000000000000000000000..e9752e127f4b79df6c7dbbc11e875b1197f7fcf9 --- /dev/null +++ b/trained_models/7010_after_christmas/reward @@ -0,0 +1,5 @@ + agent_id: + (0.001*reward[agent_id]['position_error'] - 0.001*reward[agent_id]['enemy_position_error']) + + 0.5*reward[agent_id]['share_radar_actions'] + + reward[agent_id]['time_step_aircrafts_detected'] + - 0.5*reward[agent_id]['enemy_time_step_radars_detected'] +eval: samma diff --git 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