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| from easydict import EasyDict | |
| collector_env_num = 1 | |
| evaluator_env_num = 1 | |
| walker2d_onppo_config = dict( | |
| exp_name='walker2d_onppo_seed0', | |
| env=dict( | |
| env_id='Walker2d-v3', | |
| norm_obs=dict(use_norm=False, ), | |
| norm_reward=dict(use_norm=False, ), | |
| collector_env_num=collector_env_num, | |
| evaluator_env_num=evaluator_env_num, | |
| n_evaluator_episode=10, | |
| stop_value=6000, | |
| ), | |
| policy=dict( | |
| cuda=True, | |
| recompute_adv=True, | |
| action_space='continuous', | |
| model=dict( | |
| action_space='continuous', | |
| obs_shape=17, | |
| action_shape=6, | |
| ), | |
| learn=dict( | |
| epoch_per_collect=10, | |
| update_per_collect=1, | |
| batch_size=320, | |
| learning_rate=3e-4, | |
| value_weight=0.5, | |
| entropy_weight=0.001, | |
| clip_ratio=0.2, | |
| adv_norm=True, | |
| value_norm=True, | |
| # for onppo, when we recompute adv, we need the key done in data to split traj, so we must | |
| # use ignore_done=False here, | |
| # but when we add key traj_flag in data as the backup for key done, we could choose to use ignore_done=True | |
| # for halfcheetah, the length=1000 | |
| # ignore_done=True, | |
| ignore_done=False, | |
| grad_clip_type='clip_norm', | |
| grad_clip_value=0.5, | |
| ), | |
| collect=dict( | |
| collector_env_num=collector_env_num, | |
| n_sample=3200, | |
| unroll_len=1, | |
| discount_factor=0.99, | |
| gae_lambda=0.95, | |
| ), | |
| eval=dict(evaluator=dict(eval_freq=500, )), | |
| ), | |
| ) | |
| walker2d_onppo_config = EasyDict(walker2d_onppo_config) | |
| main_config = walker2d_onppo_config | |
| walker2d_onppo_create_config = dict( | |
| env=dict( | |
| type='mujoco', | |
| import_names=['dizoo.mujoco.envs.mujoco_env'], | |
| ), | |
| env_manager=dict(type='base'), | |
| # env_manager=dict(type='subprocess'), | |
| policy=dict(type='ppo', ), | |
| ) | |
| walker2d_onppo_create_config = EasyDict(walker2d_onppo_create_config) | |
| create_config = walker2d_onppo_create_config | |
| if __name__ == "__main__": | |
| # or you can enter `ding -m serial_onpolicy -c walker2d_onppo_config.py -s 0` | |
| from ding.entry import serial_pipeline_onpolicy | |
| serial_pipeline_onpolicy([main_config, create_config], seed=0) | |