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b/ppo_fix_continuous_action.py @@ -229,7 +229,7 @@ def evaluate( envs = gym.vector.SyncVectorEnv([make_env(env_id, 0, capture_video, run_name, agent.obs_rms)]) obs, _ = envs.reset() - episodic_returns = [] + episodic_returns, episodic_lengths = [], [] while len(episodic_returns) < eval_episodes: actions, _, _, _ = agent.get_action_and_value(torch.Tensor(obs).to(device)) next_obs, _, _, _, infos = envs.step(actions.cpu().numpy()) @@ -239,9 +239,10 @@ def evaluate( continue print(f"eval_episode={len(episodic_returns)}, episodic_return={info['episode']['r']}") episodic_returns += [info["episode"]["r"]] + episodic_lengths += [info["episode"]["l"]] obs = next_obs - return episodic_returns + return episodic_returns, episodic_lengths def make_env(env_id, idx, capture_video, run_name, gamma): @@ -436,6 +437,28 @@ if __name__ == "__main__": terminal_value = agent.get_value(torch.Tensor(real_next_obs).to(device)).reshape(1, -1)[0][0] rewards[step][idx] += args.gamma * terminal_value + if global_step % (5000 // args.num_envs * args.num_envs) == 0: + obs_rms, return_rms = get_rms(envs.envs[0]) + agent.obs_rms = copy.deepcopy(get_rms(envs.envs[0])[0]) + model_path = f"runs/{run_name}/{args.exp_name}-{global_step}.cleanrl_model" + torch.save(agent.state_dict(), model_path) + print(f"model saved to {model_path}") + + episodic_returns, episodic_lengths = evaluate( + model_path, + make_eval_env, + args.env_id, + eval_episodes=3, + run_name=f"{run_name}-eval", + Model=Agent, + device=device, + capture_video=False, + ) + + print(episodic_returns, episodic_lengths) + writer.add_scalar("charts/eval/episodic_return", np.mean(episodic_returns), global_step) + writer.add_scalar("charts/eval/episodic_length", np.mean(episodic_lengths), global_step) + # Only print when at least 1 env is done if "final_info" not in infos: continue @@ -549,7 +572,7 @@ if __name__ == "__main__": torch.save(agent.state_dict(), model_path) print(f"model saved to {model_path}") - episodic_returns = evaluate( + episodic_returns, episodic_lengths = evaluate( model_path, make_eval_env, args.env_id, diff --git a/replay.mp4 b/replay.mp4 index 4f80015305ab50b9842165a5f753c4d655cd45fb..acc8f8858310dbdc6b1251503e8277a7eb78e1c2 100644 --- a/replay.mp4 +++ b/replay.mp4 @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d151cf055071da13ee2da4f670b0c3f735c4a9f959ee9c0c247b2a5587afe950 -size 1448477 +oid sha256:7e9605eb8c396dae6c1037f3c8b4164cb75539fc32bb5b41a35ae618fc89726a +size 1302101 diff --git a/videos/Walker2d-v4__ppo_fix_continuous_action__1__1705691778-eval/rl-video-episode-0.mp4 b/videos/Walker2d-v4__ppo_fix_continuous_action__1__1705691778-eval/rl-video-episode-0.mp4 deleted file mode 100644 index 5840eaec14ed6eec27c5ebe4e7574b5a8551551d..0000000000000000000000000000000000000000 Binary files a/videos/Walker2d-v4__ppo_fix_continuous_action__1__1705691778-eval/rl-video-episode-0.mp4 and /dev/null differ diff --git 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