part2 complete
This commit is contained in:
Zheyuan Wu
2
hw3/bash/2-2-experiments.sh
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2
hw3/bash/2-2-experiments.sh
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python run.py --env_name CartPole-v1 -n 100 -b 5000 -rtg --exp_name cartpole_rtg_no_baseline
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python run.py --env_name CartPole-v1 -n 100 -b 5000 -rtg -na --use_baseline --exp_name cartpole_na_rtg_baseline
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hw3/bash/2-3-experiments.sh
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hw3/bash/2-3-experiments.sh
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python run.py --env_name CartPole-v1 -n 100 -b 5000 -rtg --exp_name cartpole_rtg_no_baseline
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python run.py --env_name CartPole-v1 -n 100 -b 5000 -rtg --use_baseline --exp_name cartpole_rtg_baseline
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# with na
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python run.py --env_name CartPole-v1 -n 100 -b 5000 -rtg -na --use_baseline --exp_name cartpole_na_rtg_baseline
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# add bgs (default 5) and blr (default 5e-3) to the experiments
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python run.py --env_name CartPole-v1 -n 100 -b 5000 -rtg --use_baseline --baseline_gradient_steps 3 --exp_name cartpole_rtg_baseline_bgs3
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python run.py --env_name CartPole-v1 -n 100 -b 5000 -rtg --use_baseline --baseline_learning_rate 0.001 --exp_name cartpole_rtg_baseline_blr1e-3
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python run.py --env_name CartPole-v1 -n 100 -b 5000 -rtg --use_baseline --baseline_gradient_steps 3 --baseline_learning_rate 0.001 --exp_name cartpole_rtg_baseline_bgs3_blr1e-3
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hw3/bash/2-4-experiments.sh
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hw3/bash/2-4-experiments.sh
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python run.py --env_name HalfCheetah-v4 -n 100 -b 5000 -na --use_baseline --exp_name halfcheetah_na_baseline
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python run.py --env_name HalfCheetah-v4 -n 100 -b 5000 -na --use_baseline --baseline_gradient_steps 3 --exp_name halfcheetah_na_baseline_bgs3
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python run.py --env_name HalfCheetah-v4 -n 100 -b 5000 -na --use_baseline --baseline_learning_rate 0.001 --exp_name halfcheetah_na_baseline_blr1e-3
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# with reward to go
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python run.py --env_name HalfCheetah-v4 -n 100 -b 5000 -rtg -na --use_baseline --exp_name halfcheetah_na_rtg_baseline
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python run.py --env_name HalfCheetah-v4 -n 100 -b 5000 -rtg -na --use_baseline --baseline_gradient_steps 3 --exp_name halfcheetah_na_rtg_baseline_bgs3
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python run.py --env_name HalfCheetah-v4 -n 100 -b 5000 -rtg -na --use_baseline --baseline_learning_rate 0.001 --exp_name halfcheetah_na_rtg_baseline_blr1e-3
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# Berkely parameters
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python run.py --env_name HalfCheetah-v4 -n 100 -b 5000 -rtg --use_baseline --baseline_gradient_steps 5 --baseline_learning_rate 0.01 --exp_name halfcheetah_na_rtg_baseline_bgs5_blr1e-2
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@@ -41,7 +41,9 @@ class ValueCritic(nn.Module):
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############################
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# YOUR IMPLEMENTATION HERE #
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values=self.network(obs)
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assert isinstance(obs, torch.Tensor), "obs must be a torch tensor"
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# squeeze the last dimension to get the values as 1D tensor
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values=self.network.forward(obs).squeeze(dim=-1)
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############################
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return values
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@@ -56,7 +58,8 @@ class ValueCritic(nn.Module):
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############################
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# YOUR IMPLEMENTATION HERE #
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values = self.forward(obs)
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loss = F.mse_loss(values, q_values)
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# use mean squared error loss
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loss = torch.mean(torch.square(q_values-values))
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self.optimizer.zero_grad()
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loss.backward()
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@@ -85,7 +85,7 @@ class PGAgent(nn.Module):
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critic_info: dict = None
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############################
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# YOUR IMPLEMENTATION HERE #
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critic_info = self.critic.update(obs, q_values)
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############################
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info.update(critic_info)
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@@ -138,7 +138,9 @@ class PGAgent(nn.Module):
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advantages = None
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############################
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# YOUR IMPLEMENTATION HERE #
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values = self.critic.forward(ptu.from_numpy(obs))
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q_values = q_values - ptu.to_numpy(values)
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advantages = q_values.copy()
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############################
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assert values.shape == q_values.shape
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images/2332.png
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images/2332.png
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images/p231.png
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images/p231.png
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images/p232.png
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images/p232.png
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images/p2331.png
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images/p2332.png
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images/p234.png
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109
plot_result.py
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plot_result.py
@@ -19,7 +19,8 @@ def tabulate_events(dpath):
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tags = event_iterator.Tags()['scalars']
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for it in summary_iterators:
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assert it.Tags()['scalars'] == tags
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print(f'comparing {it.Tags()["scalars"]} and {tags}')
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# assert it.Tags()['scalars'] == tags
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out = defaultdict(list)
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steps = []
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@@ -45,20 +46,100 @@ def tabulate_events(dpath):
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if __name__ == '__main__':
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# In the first graph, compare the learning curves (average return vs. number of environment steps) for the experiments running with batch size of 1000.
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root_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'hw3', 'data','p1311')
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df_tables = tabulate_events(root_dir)
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for experiment_dir, df in df_tables:
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# debug
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print(f"{experiment_dir}:\n {df}")
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plt.plot(df['Train_EnvstepsSoFar'], df['Train_AverageReturn'], label=experiment_dir)
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plt.legend()
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plt.xlabel('Number of Environment Steps')
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plt.ylabel('Average Return')
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plt.title('Learning Curves for Batch Size of 1000')
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plt.show()
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# root_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'hw3', 'data','p1311')
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# df_tables = tabulate_events(root_dir)
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# for experiment_dir, df in df_tables:
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# # debug
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# print(f"{experiment_dir}:\n {df}")
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# plt.plot(df['Train_EnvstepsSoFar'], df['Train_AverageReturn'], label=experiment_dir)
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# plt.legend()
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# plt.xlabel('Number of Environment Steps')
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# plt.ylabel('Average Return')
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# plt.title('Learning Curves for Batch Size of 1000')
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# plt.show()
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# – In the second graph, compare the learning curves for the experiments running with
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# batch size of 4000. (The large batch experiments.)
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root_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'hw3', 'data','p1312')
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# root_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'hw3', 'data','p1312')
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# df_tables = tabulate_events(root_dir)
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# for experiment_dir, df in df_tables:
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# # debug
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# print(f"{experiment_dir}:\n {df}")
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# plt.plot(df['Train_EnvstepsSoFar'], df['Train_AverageReturn'], label=experiment_dir)
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# plt.legend()
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# plt.xlabel('Number of Environment Steps')
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# plt.ylabel('Average Return')
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# plt.title('Learning Curves for Batch Size of 4000')
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# plt.show()
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# Plot a learning curve for the baseline loss.
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# root_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'hw3', 'data','p231')
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# df_tables = tabulate_events(root_dir)
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# for experiment_dir, df in df_tables:
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# # debug
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# print(f"{experiment_dir}:\n {df}")
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# plt.plot(df['Train_EnvstepsSoFar'], df['Baseline_Loss'], label=experiment_dir)
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# plt.legend()
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# plt.xlabel('Number of Environment Steps')
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# plt.ylabel('Baseline Loss')
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# plt.title('Learning Curve for Baseline Loss')
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# plt.show()
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# Plot a learning curve for the evaluation return. You should expect to converge to the maximum reward of 500.
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# root_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'hw3', 'data','p232')
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# df_tables = tabulate_events(root_dir)
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# for experiment_dir, df in df_tables:
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# # debug
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# print(f"{experiment_dir}:\n {df}")
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# plt.plot(df['Train_EnvstepsSoFar'], df['Train_AverageReturn'], label=experiment_dir)
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# plt.legend()
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# plt.xlabel('Number of Environment Steps')
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# plt.ylabel('Average Return')
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# plt.title('Learning Curve for Average Return')
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# plt.show()
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# Run another experiment with a decreased number of baseline gradient steps (-bgs in command line) and/or baseline learning rate (-blr in command line). How does this affect
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# (a) the baseline learning curve and
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# root_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'hw3', 'data','p233')
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# df_tables = tabulate_events(root_dir)
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# for experiment_dir, df in df_tables:
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# # debug
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# print(f"{experiment_dir}:\n {df}")
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# plt.plot(df['Train_EnvstepsSoFar'], df['Baseline_Loss'], label=experiment_dir)
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# plt.legend()
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# plt.xlabel('Number of Environment Steps')
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# plt.ylabel('Baseline Loss')
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# plt.title('Learning Curve for Baseline Loss for Batch Size of 5000 with Decreased Baseline Gradient Steps and/or Baseline Learning Rate')
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# plt.show()
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# (b) the performance of the policy?
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# root_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'hw3', 'data','p233')
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# df_tables = tabulate_events(root_dir)
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# for experiment_dir, df in df_tables:
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# # debug
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# print(f"{experiment_dir}:\n {df}")
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# plt.plot(df['Train_EnvstepsSoFar'], df['Train_AverageReturn'], label=experiment_dir)
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# plt.legend()
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# plt.xlabel('Number of Environment Steps')
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# plt.ylabel('Average Return')
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# plt.title('Learning Curve for Average Return for Batch Size of 5000 with Decreased Baseline Gradient Steps and/or Baseline Learning Rate')
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# plt.show()
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# How does the command line argument -na influence the performance? Why is that the case?
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# root_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'hw3', 'data','p234')
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# df_tables = tabulate_events(root_dir)
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# for experiment_dir, df in df_tables:
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# # debug
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# print(f"{experiment_dir}:\n {df}")
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# plt.plot(df['Train_EnvstepsSoFar'], df['Train_AverageReturn'], label=experiment_dir)
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# plt.legend()
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# plt.xlabel('Number of Environment Steps')
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# plt.ylabel('Average Return')
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# plt.title('Learning Curve for Average Return for Batch Size of 5000 with Command Line Argument -na')
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# plt.show()
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# HalfCheetah
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root_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'hw3', 'data','p24')
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df_tables = tabulate_events(root_dir)
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for experiment_dir, df in df_tables:
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# debug
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@@ -67,5 +148,5 @@ if __name__ == '__main__':
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plt.legend()
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plt.xlabel('Number of Environment Steps')
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plt.ylabel('Average Return')
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plt.title('Learning Curves for Batch Size of 4000')
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plt.title('Learning Curve for Average Return for HalfCheetah')
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plt.show()
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18
result.aux
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result.aux
@@ -1,18 +1,12 @@
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\relax
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\providecommand\hyper@newdestlabel[2]{}
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\providecommand\HyperFirstAtBeginDocument{\AtBeginDocument}
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\HyperFirstAtBeginDocument{\ifx\hyper@anchor\@undefined
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\global\let\oldnewlabel\newlabel
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\gdef\newlabel#1#2{\newlabelxx{#1}#2}
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\gdef\newlabelxx#1#2#3#4#5#6{\oldnewlabel{#1}{{#2}{#3}}}
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\AtEndDocument{\ifx\hyper@anchor\@undefined
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\let\newlabel\oldnewlabel
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\fi}
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\fi}
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\global\let\hyper@last\relax
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\gdef\HyperFirstAtBeginDocument#1{#1}
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\providecommand\HyField@AuxAddToFields[1]{}
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\providecommand\HyField@AuxAddToCoFields[2]{}
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\@writefile{lof}{\contentsline {figure}{\numberline {1}{\ignorespaces Learning Curves for Batch Size of 1000}}{2}{figure.1}\protected@file@percent }
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\@writefile{lof}{\contentsline {figure}{\numberline {2}{\ignorespaces Learning Curves for Batch Size of 4000}}{2}{figure.2}\protected@file@percent }
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\gdef \@abspage@last{3}
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\@writefile{lof}{\contentsline {figure}{\numberline {3}{\ignorespaces Learning Curve for Baseline Loss for Batch Size of 5000}}{4}{figure.3}\protected@file@percent }
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\@writefile{lof}{\contentsline {figure}{\numberline {4}{\ignorespaces Learning Curve for Evaluation Return for Batch Size of 5000}}{4}{figure.4}\protected@file@percent }
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\@writefile{lof}{\contentsline {figure}{\numberline {5}{\ignorespaces Learning Curve for Baseline Loss for Batch Size of 5000 with Decreased Baseline Gradient Steps and/or Baseline Learning Rate}}{5}{figure.5}\protected@file@percent }
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\@writefile{lof}{\contentsline {figure}{\numberline {6}{\ignorespaces Learning Curve for Average Return for Batch Size of 5000 with Decreased Baseline Gradient Steps and/or Baseline Learning Rate}}{5}{figure.6}\protected@file@percent }
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\@writefile{lof}{\contentsline {figure}{\numberline {7}{\ignorespaces Learning Curve for Average Return for Batch Size of 5000 with Command Line Argument -na}}{6}{figure.7}\protected@file@percent }
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\gdef \@abspage@last{7}
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@@ -1,103 +1,106 @@
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# Fdb version 4
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\end{itemize}
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\end{enumerate}
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\newpage
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\item [2.3] Deliveries
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\begin{enumerate}
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||||
\item [2.3.1] Plot a learning curve for the baseline loss. (5 pts)
|
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\centering
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\caption{Learning Curve for Baseline Loss for Batch Size of 5000}
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\end{figure}
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\item [2.3.2] Plot a learning curve for the evaluation return. You should expect to converge to the maximum reward of 500. (15 pts)
|
||||
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||||
\begin{figure}[H]
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\centering
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\includegraphics[width=0.8\textwidth]{images/p232.png}
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\caption{Learning Curve for Evaluation Return for Batch Size of 5000}
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\end{figure}
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\item [2.3.3]
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||||
Run another experiment with a decreased number of baseline gradient steps (-bgs in command line) and/or baseline learning rate (-blr in command line). How does this affect (a) the baseline learning curve and (b) the performance of the policy? (15 pts)
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\begin{figure}[H]
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\centering
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\caption{Learning Curve for Baseline Loss for Batch Size of 5000 with Decreased Baseline Gradient Steps and/or Baseline Learning Rate}
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\end{figure}
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||||
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||||
In general, the baseline learning curve is more stable and the performance of the policy is better when the number of baseline gradient steps is decreased and/or the baseline learning rate is decreased.
|
||||
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\begin{figure}[H]
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\centering
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\includegraphics[width=0.8\textwidth]{images/p2332.png}
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\caption{Learning Curve for Average Return for Batch Size of 5000 with Decreased Baseline Gradient Steps and/or Baseline Learning Rate}
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\end{figure}
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||||
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In general, the performance of the policy is better when the number of baseline gradient steps is decreased and/or the baseline learning rate is decreased.
|
||||
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||||
\item [2.3.4]
|
||||
How does the command line argument -na influence the performance? Why is that the case? (5 pts)
|
||||
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||||
The performance of the policy is better when the command line argument -na is used.
|
||||
|
||||
The command line argument -na helps the performance of the policy by normalizing the advantages, which helps the policy to learn more stable and faster.
|
||||
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||||
\begin{figure}[H]
|
||||
\centering
|
||||
\includegraphics[width=0.8\textwidth]{images/p234.png}
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\caption{Learning Curve for Average Return for Batch Size of 5000 with Command Line Argument -na}
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\end{figure}
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\end{enumerate}
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\newpage
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\item [2.4] Bonus (20pt)
|
||||
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% \begin{figure}[H]
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% \centering
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||||
% \includegraphics[width=0.8\textwidth]{images/p241.png}
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% \caption{Learning Curve for Average Return for HalfCheetah with Berkely Parameters}
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% \end{figure}
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||||
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||||
\end{enumerate}
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||||
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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Reference in New Issue
Block a user