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import os
import gym
import torch
from tensorboardX import SummaryWriter
from easydict import EasyDict
from functools import partial
from ding.config import compile_config
from ding.worker import BaseLearner, SampleSerialCollector, InteractionSerialEvaluator, AdvancedReplayBuffer
from ding.envs import BaseEnvManager
from ding.envs import get_vec_env_setting, create_env_manager
from ding.policy import DDPGPolicy
from ding.utils import set_pkg_seed
cartpole_balance_ddpg_config = dict(
exp_name='dmc2gym_cartpole_balance_ddpg_eval',
env=dict(
env_id='dmc2gym_cartpole_balance',
domain_name='cartpole',
task_name='balance',
from_pixels=False,
norm_obs=dict(use_norm=False, ),
norm_reward=dict(use_norm=False, ),
collector_env_num=1,
evaluator_env_num=8,
use_act_scale=True,
n_evaluator_episode=8,
replay_path='./dmc2gym_cartpole_balance_ddpg_eval/video',
stop_value=1000,
),
policy=dict(
cuda=True,
random_collect_size=2560,
load_path="./dmc2gym_cartpole_balance_ddpg/ckpt/iteration_10000.pth.tar",
model=dict(
obs_shape=5,
action_shape=1,
twin_critic=False,
actor_head_hidden_size=128,
critic_head_hidden_size=128,
action_space='regression',
),
learn=dict(
update_per_collect=1,
batch_size=128,
learning_rate_actor=1e-3,
learning_rate_critic=1e-3,
ignore_done=False,
target_theta=0.005,
discount_factor=0.99,
actor_update_freq=1,
noise=False,
),
collect=dict(
n_sample=1,
unroll_len=1,
noise_sigma=0.1,
),
other=dict(replay_buffer=dict(replay_buffer_size=10000, ), ),
)
)
cartpole_balance_ddpg_config = EasyDict(cartpole_balance_ddpg_config)
main_config = cartpole_balance_ddpg_config
cartpole_balance_create_config = dict(
env=dict(
type='dmc2gym',
import_names=['dizoo.dmc2gym.envs.dmc2gym_env'],
),
env_manager=dict(type='base'),
policy=dict(
type='ddpg',
import_names=['ding.policy.ddpg'],
),
replay_buffer=dict(type='naive', ),
)
cartpole_balance_create_config = EasyDict(cartpole_balance_create_config)
create_config = cartpole_balance_create_config
def main(cfg, create_cfg, seed=0):
cfg = compile_config(
cfg,
BaseEnvManager,
DDPGPolicy,
BaseLearner,
SampleSerialCollector,
InteractionSerialEvaluator,
AdvancedReplayBuffer,
create_cfg=create_cfg,
save_cfg=True
)
create_cfg.policy.type = create_cfg.policy.type + '_command'
env_fn = None
cfg = compile_config(cfg, seed=seed, env=env_fn, auto=True, create_cfg=create_cfg, save_cfg=True)
# Create main components: env, policy
env_fn, collector_env_cfg, evaluator_env_cfg = get_vec_env_setting(cfg.env)
evaluator_env = create_env_manager(cfg.env.manager, [partial(env_fn, cfg=c) for c in evaluator_env_cfg])
evaluator_env.enable_save_replay(cfg.env.replay_path)
# Set random seed for all package and instance
evaluator_env.seed(seed, dynamic_seed=False)
set_pkg_seed(seed, use_cuda=cfg.policy.cuda)
# Set up RL Policy
policy = DDPGPolicy(cfg.policy)
policy.eval_mode.load_state_dict(torch.load(cfg.policy.load_path, map_location='cpu'))
# evaluate
tb_logger = SummaryWriter(os.path.join('./{}/log/'.format(cfg.exp_name), 'serial'))
evaluator = InteractionSerialEvaluator(
cfg.policy.eval.evaluator, evaluator_env, policy.eval_mode, tb_logger, exp_name=cfg.exp_name
)
evaluator.eval()
if __name__ == "__main__":
main(main_config, create_config, seed=0)
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