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from easydict import EasyDict
flythrugate_ppo_config = dict(
exp_name='flythrugate_ppo_seed0',
env=dict(
manager=dict(shared_memory=False, reset_inplace=True),
env_id='flythrugate-aviary-v0',
norm_obs=dict(use_norm=False, ),
norm_reward=dict(use_norm=False, ),
collector_env_num=8,
evaluator_env_num=8,
use_act_scale=True,
n_evaluator_episode=8,
stop_value=0,
action_type="VEL",
),
policy=dict(
cuda=True,
recompute_adv=True,
# load_path="./flythrugate_ppo_seed0/ckpt/ckpt_best.pth.tar",
model=dict(
obs_shape=12,
action_shape=4,
action_space='continuous',
),
action_space='continuous',
learn=dict(
epoch_per_collect=10,
batch_size=64,
learning_rate=3e-4,
value_weight=0.5,
entropy_weight=0.0,
clip_ratio=0.2,
adv_norm=True,
value_norm=True,
),
collect=dict(
n_sample=2048,
gae_lambda=0.97,
),
eval=dict(evaluator=dict(eval_freq=5000, )),
),
)
flythrugate_ppo_config = EasyDict(flythrugate_ppo_config)
main_config = flythrugate_ppo_config
flythrugate_ppo_create_config = dict(
env=dict(
type='gym_pybullet_drones',
import_names=['dizoo.gym_pybullet_drones.envs.gym_pybullet_drones_env'],
),
env_manager=dict(type='subprocess'),
policy=dict(type='ppo', ),
)
flythrugate_ppo_create_config = EasyDict(flythrugate_ppo_create_config)
create_config = flythrugate_ppo_create_config
if __name__ == "__main__":
# or you can enter `ding -m serial_onpolicy -c flythrugate_ppo_config.py -s 0 --env-step 1e7`
from ding.entry import serial_pipeline_onpolicy
serial_pipeline_onpolicy((main_config, create_config), seed=0)
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