OpenAi.Gym.Baselines.DeepQ Restoring checkpoint in next training

readme.md

Gist for continuous traing with Baselines DeepQ - https://github.com/openai/baselines

python continuous_trainer.py

continuous_trainer.py

import os
import subprocess
import threading

import sys
from signal import *



cur_path = os.path.dirname(os.path.realpath(__file__))
env = dict()
train_thread = None
enjoy_thread = None


def popenAndCall(onExit, *popenArgs, **popenKWArgs):
    def runInThread(onExit, popenArgs, popenKWArgs):
        proc = subprocess.Popen(*popenArgs, **popenKWArgs)
        proc.wait()
        onExit()
        return
    thread = threading.Thread(target=runInThread,
                              args=(onExit, popenArgs, popenKWArgs))
    thread.start()
    return thread


def train():
    global train_thread, enjoy_thread
    if enjoy_thread is not None:
        try: enjoy_thread.terminate()
        except Exception: pass
        enjoy_thread = None

    file_to_execute = cur_path+'/train_worker.py'
    args = [file_to_execute] # , more args
    train_thread = popenAndCall(enjoy, [sys.executable] + args, cwd=cur_path, env=dict(os.environ, **env))


def enjoy():
    global train_thread, enjoy_thread
    if train_thread is not None:
        try: train_thread.terminate()
        except Exception: pass
        train_thread = None

    file_to_execute = cur_path+'/enjoy_worker.py'
    args = [file_to_execute] # , more args
    enjoy_thread = popenAndCall(train, [sys.executable] + args, cwd=cur_path, env=dict(os.environ, **env))

def clean(*args):
    print("-- clean was called --")
    global train_thread, enjoy_thread
    if train_thread is not None:
        try: train_thread.terminate()
        except Exception: pass
        train_thread = None
    if enjoy_thread is not None:
        try: enjoy_thread.terminate()
        except Exception: pass
        enjoy_thread = None
    os._exit(0)

def main():
    for sig in (SIGABRT, SIGIOT, SIGINT, SIGBUS, SIGTERM, SIGFPE, SIGHUP, SIGTSTP, SIGTTIN, SIGTTOU,
                SIGILL, SIGQUIT, SIGSEGV, SIGALRM, SIGPIPE, SIGPROF, 
                SIGSYS, SIGTRAP, SIGUSR1, SIGUSR2, SIGVTALRM, SIGXCPU, SIGXFSZ):
        signal(sig, clean)

    train()
    # while True:
    #     train()
    #     enjoy()

if __name__ == '__main__':
    main()

enjoy_worker.py

import gym
import tensorflow as tf
import baselines.common.tf_util as U
from baselines import deepq


def main():
    print('-*-*-*- enjoy worker -*-*-*-')
    # tf.graph().as_default()
    # tf.reset_default_graph()
    env = gym.make("CartPole-v0")
    act = deepq.load("cartpole_model.pkl")

    max_episodes = 5

    while max_episodes > 0:
        obs, done = env.reset(), False
        episode_rew = 0
        while not done:
            env.render()
            obs, rew, done, _ = env.step(act(obs[None])[0])
            episode_rew += rew
        print("Episode reward", episode_rew)
        max_episodes = max_episodes - 1


if __name__ == '__main__':
    main()

train_worker.py

import gym
from baselines import deepq


def callback(lcl, glb):
    # stop training if reward exceeds 199
    is_solved = lcl['t'] > 100 and sum(lcl['episode_rewards'][-101:-1]) / 100 >= 199
    return is_solved


import numpy as np
import os
import dill
import tempfile
import tensorflow as tf
import zipfile

import baselines.common.tf_util as U

from baselines import logger
from baselines.common.schedules import LinearSchedule
from baselines import deepq
from baselines.deepq.replay_buffer import ReplayBuffer, PrioritizedReplayBuffer


class ActWrapper(object):
    def __init__(self, act, act_params):
        self._act = act
        self._act_params = act_params

    @staticmethod
    def load(path, num_cpu=16):
        with open(path, "rb") as f:
            model_data, act_params = dill.load(f)
        act = deepq.build_act(**act_params)
        sess = U.make_session(num_cpu=num_cpu)
        sess.__enter__()
        with tempfile.TemporaryDirectory() as td:
            arc_path = os.path.join(td, "packed.zip")
            with open(arc_path, "wb") as f:
                f.write(model_data)

            zipfile.ZipFile(arc_path, 'r', zipfile.ZIP_DEFLATED).extractall(td)
            U.load_state(os.path.join(td, "model"))

        return ActWrapper(act, act_params)

    def __call__(self, *args, **kwargs):
        return self._act(*args, **kwargs)

    def save(self, path):
        """Save model to a pickle located at `path`"""
        with tempfile.TemporaryDirectory() as td:
            U.save_state(os.path.join(td, "model"))
            arc_name = os.path.join(td, "packed.zip")
            with zipfile.ZipFile(arc_name, 'w') as zipf:
                for root, dirs, files in os.walk(td):
                    for fname in files:
                        file_path = os.path.join(root, fname)
                        if file_path != arc_name:
                            zipf.write(file_path, os.path.relpath(file_path, td))
            with open(arc_name, "rb") as f:
                model_data = f.read()
        with open(path, "wb") as f:
            dill.dump((model_data, self._act_params), f)


def load(path, num_cpu=16):
    """Load act function that was returned by learn function.

    Parameters
    ----------
    path: str
        path to the act function pickle
    num_cpu: int
        number of cpus to use for executing the policy

    Returns
    -------
    act: ActWrapper
        function that takes a batch of observations
        and returns actions.
    """
    return ActWrapper.load(path, num_cpu=num_cpu)


def learn(env,
          q_func,
          lr=5e-4,
          max_timesteps=100000,
          buffer_size=50000,
          exploration_fraction=0.1,
          exploration_final_eps=0.02,
          train_freq=1,
          batch_size=32,
          print_freq=1,
          checkpoint_freq=10000,
          learning_starts=1000,
          gamma=1.0,
          target_network_update_freq=500,
          prioritized_replay=False,
          prioritized_replay_alpha=0.6,
          prioritized_replay_beta0=0.4,
          prioritized_replay_beta_iters=None,
          prioritized_replay_eps=1e-6,
          num_cpu=16,
          callback=None,
          load_state=None
          ):
    """Train a deepq model.

    Parameters
    -------
    env : gym.Env
        environment to train on
    q_func: (tf.Variable, int, str, bool) -> tf.Variable
        the model that takes the following inputs:
            observation_in: object
                the output of observation placeholder
            num_actions: int
                number of actions
            scope: str
            reuse: bool
                should be passed to outer variable scope
        and returns a tensor of shape (batch_size, num_actions) with values of every action.
    lr: float
        learning rate for adam optimizer
    max_timesteps: int
        number of env steps to optimizer for
    buffer_size: int
        size of the replay buffer
    exploration_fraction: float
        fraction of entire training period over which the exploration rate is annealed
    exploration_final_eps: float
        final value of random action probability
    train_freq: int
        update the model every `train_freq` steps.
    batch_size: int
        size of a batched sampled from replay buffer for training
    print_freq: int
        how often to print out training progress
        set to None to disable printing
    checkpoint_freq: int
        how often to save the model. This is so that the best version is restored
        at the end of the training. If you do not wish to restore the best version at
        the end of the training set this variable to None.
    learning_starts: int
        how many steps of the model to collect transitions for before learning starts
    gamma: float
        discount factor
    target_network_update_freq: int
        update the target network every `target_network_update_freq` steps.
    prioritized_replay: True
        if True prioritized replay buffer will be used.
    prioritized_replay_alpha: float
        alpha parameter for prioritized replay buffer
    prioritized_replay_beta0: float
        initial value of beta for prioritized replay buffer
    prioritized_replay_beta_iters: int
        number of iterations over which beta will be annealed from initial value
        to 1.0. If set to None equals to max_timesteps.
    prioritized_replay_eps: float
        epsilon to add to the TD errors when updating priorities.
    num_cpu: int
        number of cpus to use for training
    callback: (locals, globals) -> None
        function called at every steps with state of the algorithm.
        If callback returns true training stops.

    Returns
    -------
    act: ActWrapper
        Wrapper over act function. Adds ability to save it and load it.
        See header of baselines/deepq/categorical.py for details on the act function.
    """
    # Create all the functions necessary to train the model

    sess = U.make_session(num_cpu=num_cpu)
    sess.__enter__()

    def make_obs_ph(name):
        return U.BatchInput(env.observation_space.shape, name=name)

    act, train, update_target, debug = deepq.build_train(
        make_obs_ph=make_obs_ph,
        q_func=q_func,
        num_actions=env.action_space.n,
        optimizer=tf.train.AdamOptimizer(learning_rate=lr),
        gamma=gamma,
        grad_norm_clipping=10
    )
    act_params = {
        'make_obs_ph': make_obs_ph,
        'q_func': q_func,
        'num_actions': env.action_space.n,
    }
    # Create the replay buffer
    if prioritized_replay:
        replay_buffer = PrioritizedReplayBuffer(buffer_size, alpha=prioritized_replay_alpha)
        if prioritized_replay_beta_iters is None:
            prioritized_replay_beta_iters = max_timesteps
        beta_schedule = LinearSchedule(prioritized_replay_beta_iters,
                                       initial_p=prioritized_replay_beta0,
                                       final_p=1.0)
    else:
        replay_buffer = ReplayBuffer(buffer_size)
        beta_schedule = None
    # Create the schedule for exploration starting from 1.
    exploration = LinearSchedule(schedule_timesteps=int(exploration_fraction * max_timesteps),
                                 initial_p=1.0,
                                 final_p=exploration_final_eps)
    #
    # # Initialize the parameters and copy them to the target network.
    U.initialize()

    import zipfile
    if load_state is not None:
        try:
            with open(load_state, "rb") as f:
                model_data, act_params = dill.load(f)
            with tempfile.TemporaryDirectory() as td:
                arc_path = os.path.join(td, "packed.zip")
                with open(arc_path, "wb") as f:
                    f.write(model_data)

                zipfile.ZipFile(arc_path, 'r', zipfile.ZIP_DEFLATED).extractall(td)
                U.load_state(os.path.join(td, "model"))
            pass
        except FileNotFoundError as e:
            pass

    update_target()

    episode_rewards = [0.0]
    saved_mean_reward = None
    obs = env.reset()
    with tempfile.TemporaryDirectory() as td:
        # td = os.path.dirname(os.path.realpath(__file__))
        model_saved = False
        model_file = os.path.join(td, "model")

        for t in range(max_timesteps):
            if callback is not None:
                if callback(locals(), globals()):
                    break
            # Take action and update exploration to the newest value
            action = act(np.array(obs)[None], update_eps=exploration.value(t))[0]
            new_obs, rew, done, _ = env.step(action)
            # Store transition in the replay buffer.
            replay_buffer.add(obs, action, rew, new_obs, float(done))
            obs = new_obs

            episode_rewards[-1] += rew
            if done:
                obs = env.reset()
                episode_rewards.append(0.0)

            if t > learning_starts and t % train_freq == 0:
                # Minimize the error in Bellman's equation on a batch sampled from replay buffer.
                if prioritized_replay:
                    experience = replay_buffer.sample(batch_size, beta=beta_schedule.value(t))
                    (obses_t, actions, rewards, obses_tp1, dones, weights, batch_idxes) = experience
                else:
                    obses_t, actions, rewards, obses_tp1, dones = replay_buffer.sample(batch_size)
                    weights, batch_idxes = np.ones_like(rewards), None
                td_errors = train(obses_t, actions, rewards, obses_tp1, dones, weights)
                if prioritized_replay:
                    new_priorities = np.abs(td_errors) + prioritized_replay_eps
                    replay_buffer.update_priorities(batch_idxes, new_priorities)

            if t > learning_starts and t % target_network_update_freq == 0:
                # Update target network periodically.
                update_target()

            mean_100ep_reward = round(np.mean(episode_rewards[-101:-1]), 1)
            num_episodes = len(episode_rewards)
            if done and print_freq is not None and len(episode_rewards) % print_freq == 0:
                logger.record_tabular("steps", t)
                logger.record_tabular("episodes", num_episodes)
                logger.record_tabular("mean 100 episode reward", mean_100ep_reward)
                logger.record_tabular("% time spent exploring", int(100 * exploration.value(t)))
                logger.dump_tabular()

            if (checkpoint_freq is not None and t > learning_starts and
                    num_episodes > 100 and t % checkpoint_freq == 0):
                if saved_mean_reward is None or mean_100ep_reward > saved_mean_reward:
                    if print_freq is not None:
                        logger.log("Saving model due to mean reward increase: {} -> {}".format(
                                   saved_mean_reward, mean_100ep_reward))
                    U.save_state(model_file)
                    model_saved = True
                    saved_mean_reward = mean_100ep_reward
        if model_saved:
            if print_freq is not None:
                logger.log("Restored model with mean reward: {}".format(saved_mean_reward))
            U.load_state(model_file)

    return ActWrapper(act, act_params)



def main():
    print('-*-*-*- train worker -*-*-*-')

    env = gym.make("CartPole-v0")
    model = deepq.models.mlp([64])

    act = learn(
        env,
        q_func=model,
        lr=1e-3,
        max_timesteps=5004,
        checkpoint_freq=1000,
        buffer_size=50000,
        exploration_fraction=0.1,
        exploration_final_eps=0.02,
        print_freq=10,
        callback=callback,
        load_state="cartpole_model.pkl"
    )

    print("Saving model to cartpole_model.pkl")
    act.save("cartpole_model.pkl")


if __name__ == '__main__':
    main()

You are my savior 👍
Thank a lot