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Install

pip install git+https://github.com/RyanNavillus/reward-surfaces.git

Usage

Training

To train an agent to play CartPole with PPO on GPU, saving checkpoints every 10,000 steps:

python3 scripts/train_agent.py "./runs/cartpole_checkpoints" SB3_ON CartPole-v1 cuda '{"ALGO": "PPO"}' --save_freq=10000

Evaluating

To evaluate the gradient direction:

python3 scripts/generate_eval_jobs.py --batch-grad --num-steps=1000000 "./runs/cartpole_checkpoints" "./runs/eval_grad/cartpole/"
python3 scripts/run_jobs_multiproc.py --num-cpus=8 "./runs/eval_grad/cartpole/jobs.sh"

Plotting

To plot a reward surface:

python3 scripts/generate_plane_jobs.py --grid-size=31 --magnitude=1.0 --num-steps=200000 "./runs/cartpole_checkpoints/best/" "./runs/cartpole_surface/"
python3 scripts/run_jobs_multiproc.py --num-cpus=8 "./runs/cartpole_surface/jobs.sh"
python3 scripts/job_results_to_csv.py "./runs/cartpole_surface/"
python3 scripts/plot_plane.py "./runs/cartpole_surface/results.csv" --outname="./runs/cartpole" --env_name="CartPole-v1"
  • You can use the --keyname option for plot_plane.py to select a different value to plot. For example: --keyname="episode_stderr_rewards" will plot the standard error of each point.
    • To see all available keys try python3 scripts/print_keys.py
  • You can use the --type option for plot_plane.py to select a different plot style. For example: --type="heat" will plot a heatmap instead of a reward surface.

To plot a gradient line search:

python scripts/eval_line_segment.py ./runs/cartpole_checkpoints/ ./runs/eval_grad/cartpole/results ./runs/eval_line/cartpole/ --num-episodes=100 --length=20 --max-magnitude=0.4 --scale-dir
python scripts/run_jobs_multiproc.py --num-cpus=8 ./runs/eval_line/cartpole/jobs.sh
python scripts/job_results_to_csv.py ./runs/eval_line/cartpole/
python scripts/plot_eval_line_segement.py ./runs/eval_line/cartpole/results.csv --outname="cartpole__lines.png"
  • This requires the gradient direction at each checkpoint to be evaluated beforehand.

For all scripts, try the -h/--help flag to see more options.

Tests

to run tests, you may have to install pybulletgym

git clone https://github.com/benelot/pybullet-gym.git
cd pybullet-gym
pip install -e .