diff --git a/benchmark/Airfoil3D-hard-v0/config.yaml b/benchmark/Airfoil3D-hard-v0/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..385030626bb26bafad2280dd129a2d4094d703b5 --- /dev/null +++ b/benchmark/Airfoil3D-hard-v0/config.yaml @@ -0,0 +1,4 @@ +env_id: Airfoil3D-hard-v0 +env_kwargs: {} +n_iterations: 10 +steps: 80 diff --git a/benchmark/Airfoil3D-hard-v0/result.json b/benchmark/Airfoil3D-hard-v0/result.json new file mode 100644 index 0000000000000000000000000000000000000000..8fae2334a5834b634dada60f3268b57025687118 --- /dev/null +++ b/benchmark/Airfoil3D-hard-v0/result.json @@ -0,0 +1,5 @@ +{ + "iterations": 10, + "steps": 8, + "avg_time_seconds": 511.30418417924085 +} \ No newline at end of file diff --git a/benchmark/TCFSmall3D-both-easy-v0/config.yaml b/benchmark/TCFSmall3D-both-easy-v0/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ca69c232a7568d40d8bafd9981bf2660e079d21f --- /dev/null +++ b/benchmark/TCFSmall3D-both-easy-v0/config.yaml @@ -0,0 +1,4 @@ +env_id: TCFSmall3D-both-easy-v0 +env_kwargs: {} +n_iterations: 10 +steps: 80 diff --git a/benchmark/TCFSmall3D-both-easy-v0/hydra.yaml b/benchmark/TCFSmall3D-both-easy-v0/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..918c79974dc852cce5645b475ce1409b8b7f2520 --- /dev/null +++ b/benchmark/TCFSmall3D-both-easy-v0/hydra.yaml @@ -0,0 +1,155 @@ +hydra: + run: + dir: output/benchmark/${env_id} + sweep: + dir: output/benchmark/${env_id} + subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: RUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=RUN + task: + - env_id=TCFSmall3D-both-easy-v0 + job: + name: benchmark + chdir: true + override_dirname: env_id=TCFSmall3D-both-easy-v0 + id: ??? + num: ??? + config_name: benchmark + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/benchmark/TCFSmall3D-both-easy-v0 + choices: + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/benchmark/TCFSmall3D-both-easy-v0/overrides.yaml b/benchmark/TCFSmall3D-both-easy-v0/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..641ab0f1540905c7b89bf481d7353dbaabb03096 --- /dev/null +++ b/benchmark/TCFSmall3D-both-easy-v0/overrides.yaml @@ -0,0 +1 @@ +- env_id=TCFSmall3D-both-easy-v0 diff --git a/benchmark/TCFSmall3D-both-easy-v0/result.json b/benchmark/TCFSmall3D-both-easy-v0/result.json new file mode 100644 index 0000000000000000000000000000000000000000..f06f0c9f3111d07a8e3b84ebea4059b157ab399a --- /dev/null +++ b/benchmark/TCFSmall3D-both-easy-v0/result.json @@ -0,0 +1,5 @@ +{ + "iterations": 10, + "steps": 80, + "avg_time_seconds": 38.49841066500521 +} \ No newline at end of file diff --git a/training/sarl/Airfoil2D-hard-v0/PPO/0/config.yaml b/training/sarl/Airfoil2D-hard-v0/PPO/0/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dfff2912f5434f4b9e8cd23da713c8bddf8d72d7 --- /dev/null +++ b/training/sarl/Airfoil2D-hard-v0/PPO/0/config.yaml @@ -0,0 +1,58 @@ +env_id: Airfoil2D-hard-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 0 +rl_mode: sarl +total_timesteps: 50000.0 +n_eval_steps: 10 +eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}} +n_eval_episodes: 1 +continue_training: false +checkpoint_latest: true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: PPO + obj: + _target_: stable_baselines3.ppo.ppo.PPO + policy: MlpPolicy + learning_rate: 0.0003 + n_steps: 2048 + batch_size: 64 + n_epochs: 10 + gamma: 0.99 + gae_lambda: 0.95 + clip_range: 0.2 + clip_range_vf: null + normalize_advantage: true + ent_coef: 0.01 + vf_coef: 0.5 + max_grad_norm: 0.5 + use_sde: false + sde_sample_freq: -1 + rollout_buffer_class: null + rollout_buffer_kwargs: null + target_kl: null + stats_window_size: 100 + tensorboard_log: null + verbose: 0 + seed: ${seed} + device: ${rl_device} + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/Airfoil2D-hard-v0/PPO/0/eval_sequence_10000.csv 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app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_ppo + - env_id=Airfoil2D-hard-v0 + - rl_mode=sarl + - seed=0 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_ppo,env_id=Airfoil2D-hard-v0,rl_mode=sarl,seed=0 + id: '0' + num: 0 + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: hydra_plugins.hydra_colorlog.conf + schema: pkg + provider: hydra-colorlog + - path: '' + schema: structured + provider: schema + output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/training/sarl/Airfoil2D-hard-v0/PPO/0 + choices: + cluster: local + algorithm: sb3_ppo + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/training/sarl/Airfoil2D-hard-v0/PPO/0/multirun.yaml b/training/sarl/Airfoil2D-hard-v0/PPO/0/multirun.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c516dc7f1ce693034b91e5dd9d9d3bcd57a7ad9c --- /dev/null +++ b/training/sarl/Airfoil2D-hard-v0/PPO/0/multirun.yaml @@ -0,0 +1,221 @@ +hydra: + run: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + sweep: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_ppo + - env_id=Airfoil2D-hard-v0 + - rl_mode=sarl + - seed=0 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_ppo,env_id=Airfoil2D-hard-v0,rl_mode=sarl,seed=0 + id: ??? + num: ??? + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: hydra_plugins.hydra_colorlog.conf + schema: pkg + provider: hydra-colorlog + - path: '' + schema: structured + provider: schema + output_dir: ??? + choices: + cluster: local + algorithm: sb3_ppo + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false +env_id: Airfoil2D-hard-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 0 +rl_mode: sarl +total_timesteps: 50000.0 +n_eval_steps: 10 +eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}} +n_eval_episodes: 1 +continue_training: false +checkpoint_latest: true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: PPO + obj: + _target_: stable_baselines3.ppo.ppo.PPO + policy: MlpPolicy + learning_rate: 0.0003 + n_steps: 2048 + batch_size: 64 + n_epochs: 10 + gamma: 0.99 + gae_lambda: 0.95 + clip_range: 0.2 + clip_range_vf: null + normalize_advantage: true + ent_coef: 0.01 + vf_coef: 0.5 + max_grad_norm: 0.5 + use_sde: false + sde_sample_freq: -1 + rollout_buffer_class: null + rollout_buffer_kwargs: null + target_kl: null + stats_window_size: 100 + tensorboard_log: null + verbose: 0 + seed: ${seed} + device: ${rl_device} + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/Airfoil2D-hard-v0/PPO/0/overrides.yaml b/training/sarl/Airfoil2D-hard-v0/PPO/0/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8ed2c7d83040192df5f1b77e35b23657bf704682 --- /dev/null +++ b/training/sarl/Airfoil2D-hard-v0/PPO/0/overrides.yaml @@ -0,0 +1,4 @@ +- algorithm=sb3_ppo +- env_id=Airfoil2D-hard-v0 +- rl_mode=sarl +- seed=0 diff --git a/training/sarl/Airfoil2D-hard-v0/PPO/0/test/test_eval_episode_0.csv b/training/sarl/Airfoil2D-hard-v0/PPO/0/test/test_eval_episode_0.csv new file mode 100644 index 0000000000000000000000000000000000000000..94b6aaa18546b7594ef89659b1e9ed9f8db61b22 --- /dev/null +++ b/training/sarl/Airfoil2D-hard-v0/PPO/0/test/test_eval_episode_0.csv @@ -0,0 +1,301 @@ +drag,lift,action_0,action_1,action_2,reward +0.2536681,1.5410542,0.5318848,-0.84508306,0.48816478,0.011731624603271484 +0.18373035,1.2155657,0.53378093,-0.84256786,0.47411096,0.5526819229125977 +0.16877271,1.4417362,0.54314053,-0.85279846,0.48361906,2.4791226387023926 +0.15016054,1.6342808,0.54917556,-0.86882037,0.49921098,4.8202080726623535 +0.18025625,1.698266,0.54897046,-0.83701104,0.4224735,3.3580498695373535 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safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: PPO + obj: + _target_: stable_baselines3.ppo.ppo.PPO + policy: MlpPolicy + learning_rate: 0.0003 + n_steps: 2048 + batch_size: 64 + n_epochs: 10 + gamma: 0.99 + gae_lambda: 0.95 + clip_range: 0.2 + clip_range_vf: null + normalize_advantage: true + ent_coef: 0.01 + vf_coef: 0.5 + max_grad_norm: 0.5 + use_sde: false + sde_sample_freq: -1 + rollout_buffer_class: null + rollout_buffer_kwargs: null + target_kl: null + stats_window_size: 100 + tensorboard_log: null + verbose: 0 + seed: ${seed} + device: ${rl_device} + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/Airfoil2D-hard-v0/PPO/1/eval_sequence_10000.csv b/training/sarl/Airfoil2D-hard-v0/PPO/1/eval_sequence_10000.csv new file mode 100644 index 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+0.30812007,1.7099755,0.092485435,-0.26550177,0.1970093,-0.5136442184448242 +0.32693288,1.8515147,0.09642449,-0.24184908,0.18778902,-0.40006208419799805 diff --git a/training/sarl/Airfoil2D-hard-v0/PPO/1/hydra.yaml b/training/sarl/Airfoil2D-hard-v0/PPO/1/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..80abdc4fc3eec1b3d7cee60dcd882a6299f05a84 --- /dev/null +++ b/training/sarl/Airfoil2D-hard-v0/PPO/1/hydra.yaml @@ -0,0 +1,163 @@ +hydra: + run: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + sweep: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_ppo + - env_id=Airfoil2D-hard-v0 + - rl_mode=sarl + - seed=1 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_ppo,env_id=Airfoil2D-hard-v0,rl_mode=sarl,seed=1 + id: '0' + num: 0 + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: hydra_plugins.hydra_colorlog.conf + schema: pkg + provider: hydra-colorlog + - path: '' + schema: structured + provider: schema + output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/training/sarl/Airfoil2D-hard-v0/PPO/1 + choices: + cluster: local + algorithm: sb3_ppo + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/training/sarl/Airfoil2D-hard-v0/PPO/1/multirun.yaml b/training/sarl/Airfoil2D-hard-v0/PPO/1/multirun.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8b1cb3eb4032d1026aa0a532c975654455e34583 --- /dev/null +++ b/training/sarl/Airfoil2D-hard-v0/PPO/1/multirun.yaml @@ -0,0 +1,221 @@ +hydra: + run: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + sweep: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_ppo + - env_id=Airfoil2D-hard-v0 + - rl_mode=sarl + - seed=1 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_ppo,env_id=Airfoil2D-hard-v0,rl_mode=sarl,seed=1 + id: ??? + num: ??? + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: hydra_plugins.hydra_colorlog.conf + schema: pkg + provider: hydra-colorlog + - path: '' + schema: structured + provider: schema + output_dir: ??? + choices: + cluster: local + algorithm: sb3_ppo + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false +env_id: Airfoil2D-hard-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 1 +rl_mode: sarl +total_timesteps: 50000.0 +n_eval_steps: 10 +eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}} +n_eval_episodes: 1 +continue_training: false +checkpoint_latest: true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: PPO + obj: + _target_: stable_baselines3.ppo.ppo.PPO + policy: MlpPolicy + learning_rate: 0.0003 + n_steps: 2048 + batch_size: 64 + n_epochs: 10 + gamma: 0.99 + gae_lambda: 0.95 + clip_range: 0.2 + clip_range_vf: null + normalize_advantage: true + ent_coef: 0.01 + vf_coef: 0.5 + max_grad_norm: 0.5 + use_sde: false + sde_sample_freq: -1 + rollout_buffer_class: null + rollout_buffer_kwargs: null + target_kl: null + stats_window_size: 100 + tensorboard_log: null + verbose: 0 + seed: ${seed} + device: ${rl_device} + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/Airfoil2D-hard-v0/PPO/1/overrides.yaml b/training/sarl/Airfoil2D-hard-v0/PPO/1/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..752bc0052b75218591d6e15094ee9596787cb416 --- /dev/null +++ b/training/sarl/Airfoil2D-hard-v0/PPO/1/overrides.yaml @@ -0,0 +1,4 @@ +- algorithm=sb3_ppo +- env_id=Airfoil2D-hard-v0 +- rl_mode=sarl +- seed=1 diff --git a/training/sarl/Airfoil2D-hard-v0/PPO/1/test/test_eval_episode_0.csv b/training/sarl/Airfoil2D-hard-v0/PPO/1/test/test_eval_episode_0.csv new file mode 100644 index 0000000000000000000000000000000000000000..7e8c4da0551c3b7ee6af3724689130ff8618e73b --- /dev/null +++ b/training/sarl/Airfoil2D-hard-v0/PPO/1/test/test_eval_episode_0.csv @@ -0,0 +1,301 @@ +drag,lift,action_0,action_1,action_2,reward +0.2545651,1.5258878,0.40796265,-0.90798,0.40220845,-0.06925201416015625 +0.18418373,1.2104748,0.39559996,-0.94294524,0.44056687,0.5087556838989258 +0.16982569,1.4371728,0.39669392,-0.93283314,0.4310977,2.3992857933044434 +0.15032066,1.6148614,0.40054128,-0.9013505,0.40395316,4.679427623748779 +0.18048991,1.6856518,0.47938958,-0.7662471,0.22944476,3.275963306427002 +0.21958332,1.7398579,0.52977395,-0.6791412,0.111793935,1.8601031303405762 +0.19733539,1.6291322,0.43320444,-0.87232804,0.3512381,2.1923022270202637 +0.11274624,1.1958927,0.3941632,-0.9467061,0.4430388,4.5435919761657715 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+eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}} +n_eval_episodes: 1 +continue_training: false +checkpoint_latest: true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: PPO + obj: + _target_: stable_baselines3.ppo.ppo.PPO + policy: MlpPolicy + learning_rate: 0.0003 + n_steps: 2048 + batch_size: 64 + n_epochs: 10 + gamma: 0.99 + gae_lambda: 0.95 + clip_range: 0.2 + clip_range_vf: null + normalize_advantage: true + ent_coef: 0.01 + vf_coef: 0.5 + max_grad_norm: 0.5 + use_sde: false + sde_sample_freq: -1 + rollout_buffer_class: null + rollout_buffer_kwargs: null + target_kl: null + stats_window_size: 100 + tensorboard_log: null + verbose: 0 + seed: ${seed} + device: ${rl_device} + _init_setup_model: true 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output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + sweep: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_ppo + - env_id=Airfoil2D-hard-v0 + - rl_mode=sarl + - seed=4 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_ppo,env_id=Airfoil2D-hard-v0,rl_mode=sarl,seed=4 + id: '0' + num: 0 + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: hydra_plugins.hydra_colorlog.conf + schema: pkg + provider: hydra-colorlog + - path: '' + schema: structured + provider: schema + output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/training/sarl/Airfoil2D-hard-v0/PPO/4 + choices: + cluster: local + algorithm: sb3_ppo + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/training/sarl/Airfoil2D-hard-v0/PPO/4/multirun.yaml b/training/sarl/Airfoil2D-hard-v0/PPO/4/multirun.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ad652cbf012661bbbea65724f6776c7a81b6c6f1 --- /dev/null +++ b/training/sarl/Airfoil2D-hard-v0/PPO/4/multirun.yaml @@ -0,0 +1,221 @@ +hydra: + run: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + sweep: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_ppo + - env_id=Airfoil2D-hard-v0 + - rl_mode=sarl + - seed=4 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_ppo,env_id=Airfoil2D-hard-v0,rl_mode=sarl,seed=4 + id: ??? + num: ??? + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: hydra_plugins.hydra_colorlog.conf + schema: pkg + provider: hydra-colorlog + - path: '' + schema: structured + provider: schema + output_dir: ??? + choices: + cluster: local + algorithm: sb3_ppo + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false +env_id: Airfoil2D-hard-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 4 +rl_mode: sarl +total_timesteps: 50000.0 +n_eval_steps: 10 +eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}} +n_eval_episodes: 1 +continue_training: false +checkpoint_latest: true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: PPO + obj: + _target_: stable_baselines3.ppo.ppo.PPO + policy: MlpPolicy + learning_rate: 0.0003 + n_steps: 2048 + batch_size: 64 + n_epochs: 10 + gamma: 0.99 + gae_lambda: 0.95 + clip_range: 0.2 + clip_range_vf: null + normalize_advantage: true + ent_coef: 0.01 + vf_coef: 0.5 + max_grad_norm: 0.5 + use_sde: false + sde_sample_freq: -1 + rollout_buffer_class: null + rollout_buffer_kwargs: null + target_kl: null + stats_window_size: 100 + tensorboard_log: null + verbose: 0 + seed: ${seed} + device: ${rl_device} + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/Airfoil2D-hard-v0/PPO/4/overrides.yaml b/training/sarl/Airfoil2D-hard-v0/PPO/4/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d6aeccf06b15726623007346f8a34a4cbb5021cc --- /dev/null +++ b/training/sarl/Airfoil2D-hard-v0/PPO/4/overrides.yaml @@ -0,0 +1,4 @@ +- algorithm=sb3_ppo +- env_id=Airfoil2D-hard-v0 +- rl_mode=sarl +- seed=4 diff --git a/training/sarl/Airfoil2D-hard-v0/PPO/4/test/test_eval_episode_0.csv b/training/sarl/Airfoil2D-hard-v0/PPO/4/test/test_eval_episode_0.csv new file mode 100644 index 0000000000000000000000000000000000000000..3c54a4fc6fdc4517aa2342d943e301a64f1e7394 --- /dev/null +++ b/training/sarl/Airfoil2D-hard-v0/PPO/4/test/test_eval_episode_0.csv @@ -0,0 +1,301 @@ +drag,lift,action_0,action_1,action_2,reward +0.252455,1.522799,0.3319838,-0.8316434,0.28171098,-0.0313868522644043 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+env_id: CylinderRot2D-easy-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 0 +rl_mode: sarl +total_timesteps: 50000.0 +n_eval_steps: 10 +eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}} +n_eval_episodes: 1 +continue_training: false +checkpoint_latest: true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: PPO + obj: + _target_: stable_baselines3.ppo.ppo.PPO + policy: MlpPolicy + learning_rate: 0.0003 + n_steps: 2048 + batch_size: 64 + n_epochs: 10 + gamma: 0.99 + gae_lambda: 0.95 + clip_range: 0.2 + clip_range_vf: null + normalize_advantage: true + ent_coef: 0.01 + vf_coef: 0.5 + max_grad_norm: 0.5 + use_sde: false + sde_sample_freq: -1 + rollout_buffer_class: null + rollout_buffer_kwargs: null + target_kl: null + stats_window_size: 100 + tensorboard_log: null + verbose: 0 + seed: ${seed} + device: ${rl_device} + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-easy-v0/PPO/0/eval_sequence_10000.csv b/training/sarl/CylinderRot2D-easy-v0/PPO/0/eval_sequence_10000.csv new file mode 100644 index 0000000000000000000000000000000000000000..36f2bcb6a4eb3e6817b8358cec3bbbfc49ac7936 --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/PPO/0/eval_sequence_10000.csv @@ -0,0 +1,81 @@ +drag,lift,action_0,reward +3.3636577,1.1887517,0.45753866,-1.2242538928985596 +3.3073611,1.0457932,0.41421935,-1.0249987840652466 +3.2417104,0.79852283,0.3438884,-0.7120777368545532 +3.2049859,0.51290524,0.21020216,-0.3897355794906616 +3.2217035,0.2033665,-0.0064588767,-0.09691451489925385 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+ subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_ppo + - env_id=CylinderRot2D-easy-v0 + - rl_mode=sarl + - seed=0 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_ppo,env_id=CylinderRot2D-easy-v0,rl_mode=sarl,seed=0 + id: '0' + num: 0 + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/training/sarl/CylinderRot2D-easy-v0/PPO/0 + choices: + cluster: local + algorithm: sb3_ppo + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/training/sarl/CylinderRot2D-easy-v0/PPO/0/multirun.yaml b/training/sarl/CylinderRot2D-easy-v0/PPO/0/multirun.yaml new file mode 100644 index 0000000000000000000000000000000000000000..389152c83b7f1f5f9e22d87b5d5e48953da4429c --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/PPO/0/multirun.yaml @@ -0,0 +1,218 @@ +hydra: + run: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + sweep: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_ppo + - env_id=CylinderRot2D-easy-v0 + - rl_mode=sarl + - seed=0 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_ppo,env_id=CylinderRot2D-easy-v0,rl_mode=sarl,seed=0 + id: ??? + num: ??? + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: ??? + choices: + cluster: local + algorithm: sb3_ppo + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false +env_id: CylinderRot2D-easy-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 0 +rl_mode: sarl +total_timesteps: 50000.0 +n_eval_steps: 10 +eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}} +n_eval_episodes: 1 +continue_training: false +checkpoint_latest: true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: PPO + obj: + _target_: stable_baselines3.ppo.ppo.PPO + policy: MlpPolicy + learning_rate: 0.0003 + n_steps: 2048 + batch_size: 64 + n_epochs: 10 + gamma: 0.99 + gae_lambda: 0.95 + clip_range: 0.2 + clip_range_vf: null + normalize_advantage: true + ent_coef: 0.01 + vf_coef: 0.5 + max_grad_norm: 0.5 + use_sde: false + sde_sample_freq: -1 + rollout_buffer_class: null + rollout_buffer_kwargs: null + target_kl: null + stats_window_size: 100 + tensorboard_log: null + verbose: 0 + seed: ${seed} + device: ${rl_device} + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-easy-v0/PPO/0/overrides.yaml b/training/sarl/CylinderRot2D-easy-v0/PPO/0/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c6425b0104bd46de2d01209b6de31f8f76d24b2d --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/PPO/0/overrides.yaml @@ -0,0 +1,4 @@ +- algorithm=sb3_ppo +- env_id=CylinderRot2D-easy-v0 +- rl_mode=sarl +- seed=0 diff --git a/training/sarl/CylinderRot2D-easy-v0/PPO/0/test/test_eval_episode_0.csv b/training/sarl/CylinderRot2D-easy-v0/PPO/0/test/test_eval_episode_0.csv new file mode 100644 index 0000000000000000000000000000000000000000..646d5c3937537c62fdb24f9b133c565a78b98d3b --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/PPO/0/test/test_eval_episode_0.csv @@ -0,0 +1,81 @@ +drag,lift,action_0,reward +3.3796127,1.050753,-0.11328379,-1.1022101640701294 +3.3346245,0.81431395,1.0,-0.8207829594612122 +3.2477953,0.6393714,0.9698319,-0.5590112209320068 +3.2064629,0.4012548,-0.17462409,-0.2795621454715729 +3.2436206,0.25320566,0.53414416,-0.16867077350616455 +3.3128552,0.14043224,-0.8332398,-0.12513196468353271 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b/training/sarl/CylinderRot2D-easy-v0/PPO/1/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dac80f3c4fbb2d9d11d03352c8e05d2f38b67830 --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/PPO/1/config.yaml @@ -0,0 +1,58 @@ +env_id: CylinderRot2D-easy-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 1 +rl_mode: sarl +total_timesteps: 50000.0 +n_eval_steps: 10 +eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}} +n_eval_episodes: 1 +continue_training: false +checkpoint_latest: true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: PPO + obj: + _target_: stable_baselines3.ppo.ppo.PPO + policy: MlpPolicy + learning_rate: 0.0003 + n_steps: 2048 + batch_size: 64 + n_epochs: 10 + gamma: 0.99 + gae_lambda: 0.95 + clip_range: 0.2 + clip_range_vf: null + normalize_advantage: true + ent_coef: 0.01 + vf_coef: 0.5 + max_grad_norm: 0.5 + use_sde: false + sde_sample_freq: -1 + rollout_buffer_class: null + rollout_buffer_kwargs: null + target_kl: null + stats_window_size: 100 + tensorboard_log: null + verbose: 0 + seed: ${seed} + device: ${rl_device} + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-easy-v0/PPO/1/eval_sequence_10000.csv b/training/sarl/CylinderRot2D-easy-v0/PPO/1/eval_sequence_10000.csv new file mode 100644 index 0000000000000000000000000000000000000000..34182f3c5ba78f49b71d0b91774454b0d517dda1 --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/PPO/1/eval_sequence_10000.csv @@ -0,0 +1,81 @@ +drag,lift,action_0,reward +3.3621414,1.1954972,0.5128364,-1.2294830083847046 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a/training/sarl/CylinderRot2D-easy-v0/PPO/1/hydra.yaml b/training/sarl/CylinderRot2D-easy-v0/PPO/1/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..45cef3723fa224836c5f8dab8cda6362ecc7fd35 --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/PPO/1/hydra.yaml @@ -0,0 +1,160 @@ +hydra: + run: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + sweep: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_ppo + - env_id=CylinderRot2D-easy-v0 + - rl_mode=sarl + - seed=1 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_ppo,env_id=CylinderRot2D-easy-v0,rl_mode=sarl,seed=1 + id: '0' + num: 0 + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/training/sarl/CylinderRot2D-easy-v0/PPO/1 + choices: + cluster: local + algorithm: sb3_ppo + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/training/sarl/CylinderRot2D-easy-v0/PPO/1/multirun.yaml b/training/sarl/CylinderRot2D-easy-v0/PPO/1/multirun.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c7fb882482082a876bb98a678ecfe7c29e0b7e09 --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/PPO/1/multirun.yaml @@ -0,0 +1,218 @@ +hydra: + run: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + sweep: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_ppo + - env_id=CylinderRot2D-easy-v0 + - rl_mode=sarl + - seed=1 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_ppo,env_id=CylinderRot2D-easy-v0,rl_mode=sarl,seed=1 + id: ??? + num: ??? + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: ??? + choices: + cluster: local + algorithm: sb3_ppo + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false +env_id: CylinderRot2D-easy-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 1 +rl_mode: sarl +total_timesteps: 50000.0 +n_eval_steps: 10 +eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}} +n_eval_episodes: 1 +continue_training: false +checkpoint_latest: true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: PPO + obj: + _target_: stable_baselines3.ppo.ppo.PPO + policy: MlpPolicy + learning_rate: 0.0003 + n_steps: 2048 + batch_size: 64 + n_epochs: 10 + gamma: 0.99 + gae_lambda: 0.95 + clip_range: 0.2 + clip_range_vf: null + normalize_advantage: true + ent_coef: 0.01 + vf_coef: 0.5 + max_grad_norm: 0.5 + use_sde: false + sde_sample_freq: -1 + rollout_buffer_class: null + rollout_buffer_kwargs: null + target_kl: null + stats_window_size: 100 + tensorboard_log: null + verbose: 0 + seed: ${seed} + device: ${rl_device} + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-easy-v0/PPO/1/overrides.yaml b/training/sarl/CylinderRot2D-easy-v0/PPO/1/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4bd55d9471d0af88911347975fc4cc6fea2e0c06 --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/PPO/1/overrides.yaml @@ -0,0 +1,4 @@ +- algorithm=sb3_ppo +- env_id=CylinderRot2D-easy-v0 +- rl_mode=sarl +- seed=1 diff --git a/training/sarl/CylinderRot2D-easy-v0/PPO/1/test/test_eval_episode_0.csv b/training/sarl/CylinderRot2D-easy-v0/PPO/1/test/test_eval_episode_0.csv new file mode 100644 index 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${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: PPO + obj: + _target_: stable_baselines3.ppo.ppo.PPO + policy: MlpPolicy + learning_rate: 0.0003 + n_steps: 2048 + batch_size: 64 + n_epochs: 10 + gamma: 0.99 + gae_lambda: 0.95 + clip_range: 0.2 + clip_range_vf: null + normalize_advantage: true + ent_coef: 0.01 + vf_coef: 0.5 + max_grad_norm: 0.5 + use_sde: false + sde_sample_freq: -1 + rollout_buffer_class: null + rollout_buffer_kwargs: null + target_kl: null + stats_window_size: 100 + tensorboard_log: null + verbose: 0 + seed: ${seed} + device: ${rl_device} + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-easy-v0/PPO/2/eval_sequence_10000.csv b/training/sarl/CylinderRot2D-easy-v0/PPO/2/eval_sequence_10000.csv new file 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+3.1377041,-0.07015999,-1.0,0.12029139697551727 +3.1396966,-0.0384314,1.0,0.15002751350402832 diff --git a/training/sarl/CylinderRot2D-easy-v0/PPO/2/hydra.yaml b/training/sarl/CylinderRot2D-easy-v0/PPO/2/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..08c0261604f21e22f21647514b6079fc37e5f586 --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/PPO/2/hydra.yaml @@ -0,0 +1,160 @@ +hydra: + run: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + sweep: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_ppo + - env_id=CylinderRot2D-easy-v0 + - rl_mode=sarl + - seed=2 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_ppo,env_id=CylinderRot2D-easy-v0,rl_mode=sarl,seed=2 + id: '0' + num: 0 + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/training/sarl/CylinderRot2D-easy-v0/PPO/2 + choices: + cluster: local + algorithm: sb3_ppo + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/training/sarl/CylinderRot2D-easy-v0/PPO/2/multirun.yaml b/training/sarl/CylinderRot2D-easy-v0/PPO/2/multirun.yaml new file mode 100644 index 0000000000000000000000000000000000000000..21f82581e22db00091c2baa210191a343f10a8f0 --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/PPO/2/multirun.yaml @@ -0,0 +1,218 @@ +hydra: + run: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + sweep: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_ppo + - env_id=CylinderRot2D-easy-v0 + - rl_mode=sarl + - seed=2 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_ppo,env_id=CylinderRot2D-easy-v0,rl_mode=sarl,seed=2 + id: ??? + num: ??? + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: ??? + choices: + cluster: local + algorithm: sb3_ppo + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false +env_id: CylinderRot2D-easy-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 2 +rl_mode: sarl +total_timesteps: 50000.0 +n_eval_steps: 10 +eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}} +n_eval_episodes: 1 +continue_training: false +checkpoint_latest: true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: PPO + obj: + _target_: stable_baselines3.ppo.ppo.PPO + policy: MlpPolicy + learning_rate: 0.0003 + n_steps: 2048 + batch_size: 64 + n_epochs: 10 + gamma: 0.99 + gae_lambda: 0.95 + clip_range: 0.2 + clip_range_vf: null + normalize_advantage: true + ent_coef: 0.01 + vf_coef: 0.5 + max_grad_norm: 0.5 + use_sde: false + sde_sample_freq: -1 + rollout_buffer_class: null + rollout_buffer_kwargs: null + target_kl: null + stats_window_size: 100 + tensorboard_log: null + verbose: 0 + seed: ${seed} + device: ${rl_device} + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-easy-v0/PPO/2/overrides.yaml b/training/sarl/CylinderRot2D-easy-v0/PPO/2/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b4534416bd8f95380a241d6bff3b98c7d95ffa51 --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/PPO/2/overrides.yaml @@ -0,0 +1,4 @@ +- algorithm=sb3_ppo +- env_id=CylinderRot2D-easy-v0 +- rl_mode=sarl +- seed=2 diff --git a/training/sarl/CylinderRot2D-easy-v0/PPO/2/test/test_eval_episode_0.csv 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+checkpoint_latest: true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: PPO + obj: + _target_: stable_baselines3.ppo.ppo.PPO + policy: MlpPolicy + learning_rate: 0.0003 + n_steps: 2048 + batch_size: 64 + n_epochs: 10 + gamma: 0.99 + gae_lambda: 0.95 + clip_range: 0.2 + clip_range_vf: null + normalize_advantage: true + ent_coef: 0.01 + vf_coef: 0.5 + max_grad_norm: 0.5 + use_sde: false + sde_sample_freq: -1 + rollout_buffer_class: null + rollout_buffer_kwargs: null + target_kl: null + stats_window_size: 100 + tensorboard_log: null + verbose: 0 + seed: ${seed} + device: ${rl_device} + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-easy-v0/PPO/3/eval_sequence_10000.csv b/training/sarl/CylinderRot2D-easy-v0/PPO/3/eval_sequence_10000.csv new file mode 100644 index 0000000000000000000000000000000000000000..d8f69222a30ed14a8e43146e47c7804604b9f2c9 --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/PPO/3/eval_sequence_10000.csv @@ -0,0 +1,81 @@ +drag,lift,action_0,reward +3.3625364,1.193732,0.49837023,-1.2281129360198975 +3.3032684,1.062651,0.44618905,-1.0377639532089233 +3.236131,0.8273314,0.34241495,-0.7353068590164185 +3.2009814,0.5463453,0.15377311,-0.41917115449905396 +3.2200556,0.23316854,-0.023417357,-0.12506860494613647 +3.2653837,-0.0862825,-0.17068563,-0.023510701954364777 +3.2945127,-0.3748993,-0.258688,-0.3412565290927887 +3.288753,-0.58894295,-0.28442788,-0.5495404601097107 +3.2586215,-0.69538337,-0.271276,-0.6258493065834045 +3.224905,-0.68527466,-0.24986434,-0.5820241570472717 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a/training/sarl/CylinderRot2D-easy-v0/PPO/3/eval_sequence_50000.csv b/training/sarl/CylinderRot2D-easy-v0/PPO/3/eval_sequence_50000.csv new file mode 100644 index 0000000000000000000000000000000000000000..8a19c54ecea77fd599ceec0c68f2c9ad4b36e157 --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/PPO/3/eval_sequence_50000.csv @@ -0,0 +1,81 @@ +drag,lift,action_0,reward +3.4040854,1.0271558,-0.87915367,-1.1030856370925903 +3.4144526,0.70416313,1.0,-0.7904601693153381 +3.3265514,0.4554729,1.0,-0.4538688063621521 +3.2545907,0.24295618,1.0,-0.16939140856266022 +3.2593794,0.099419534,-0.5680547,-0.03064340353012085 +3.314476,0.005346428,-0.11314526,0.008333075791597366 +3.346937,-0.077445894,-0.86274517,-0.09622731804847717 +3.3011904,-0.19056208,0.38213325,-0.16359694302082062 +3.2559063,-0.2711952,-1.0,-0.1989460289478302 +3.2484944,-0.2840667,0.4136612,-0.20440557599067688 +3.2858098,-0.18579128,-1.0,-0.14344552159309387 +3.3336322,-0.114526115,0.6424493,-0.12000282853841782 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+ _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_ppo + - env_id=CylinderRot2D-easy-v0 + - rl_mode=sarl + - seed=3 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_ppo,env_id=CylinderRot2D-easy-v0,rl_mode=sarl,seed=3 + id: '0' + num: 0 + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/training/sarl/CylinderRot2D-easy-v0/PPO/3 + choices: + cluster: local + algorithm: sb3_ppo + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/training/sarl/CylinderRot2D-easy-v0/PPO/3/multirun.yaml b/training/sarl/CylinderRot2D-easy-v0/PPO/3/multirun.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e78ac229219b18d6b31e06088ef038959d8d5f4e --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/PPO/3/multirun.yaml @@ -0,0 +1,218 @@ +hydra: + run: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + sweep: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_ppo + - env_id=CylinderRot2D-easy-v0 + - rl_mode=sarl + - seed=3 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_ppo,env_id=CylinderRot2D-easy-v0,rl_mode=sarl,seed=3 + id: ??? + num: ??? + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: ??? + choices: + cluster: local + algorithm: sb3_ppo + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false +env_id: CylinderRot2D-easy-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 3 +rl_mode: sarl +total_timesteps: 50000.0 +n_eval_steps: 10 +eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}} +n_eval_episodes: 1 +continue_training: false +checkpoint_latest: true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: PPO + obj: + _target_: stable_baselines3.ppo.ppo.PPO + policy: MlpPolicy + learning_rate: 0.0003 + n_steps: 2048 + batch_size: 64 + n_epochs: 10 + gamma: 0.99 + gae_lambda: 0.95 + clip_range: 0.2 + clip_range_vf: null + normalize_advantage: true + ent_coef: 0.01 + vf_coef: 0.5 + max_grad_norm: 0.5 + use_sde: false + sde_sample_freq: -1 + rollout_buffer_class: null + rollout_buffer_kwargs: null + target_kl: null + stats_window_size: 100 + tensorboard_log: null + verbose: 0 + seed: ${seed} + device: ${rl_device} + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-easy-v0/PPO/3/overrides.yaml b/training/sarl/CylinderRot2D-easy-v0/PPO/3/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2c6e0275f8638edb3c733f657855ec40226d2258 --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/PPO/3/overrides.yaml @@ -0,0 +1,4 @@ +- algorithm=sb3_ppo +- env_id=CylinderRot2D-easy-v0 +- rl_mode=sarl +- seed=3 diff --git a/training/sarl/CylinderRot2D-easy-v0/PPO/3/test/test_eval_episode_0.csv b/training/sarl/CylinderRot2D-easy-v0/PPO/3/test/test_eval_episode_0.csv new file mode 100644 index 0000000000000000000000000000000000000000..7bc1dd180bddf509b42106342e58b714bf975b87 --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/PPO/3/test/test_eval_episode_0.csv @@ -0,0 +1,81 @@ +drag,lift,action_0,reward +3.3874974,1.0195618,-0.37113893,-1.0789036750793457 +3.3577926,0.73438835,1.0,-0.7640254497528076 +3.2702758,0.52514625,1.0,-0.4672665596008301 +3.22823,0.35018447,0.6714192,-0.2502589523792267 +3.25968,0.16540706,-0.92474115,-0.0969315767288208 +3.3107562,0.049706973,0.27894795,-0.032307662069797516 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+env_kwargs: {} +eval_env_kwargs: {} +seed: 4 +rl_mode: sarl +total_timesteps: 50000.0 +n_eval_steps: 10 +eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}} +n_eval_episodes: 1 +continue_training: false +checkpoint_latest: true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: PPO + obj: + _target_: stable_baselines3.ppo.ppo.PPO + policy: MlpPolicy + learning_rate: 0.0003 + n_steps: 2048 + batch_size: 64 + n_epochs: 10 + gamma: 0.99 + gae_lambda: 0.95 + clip_range: 0.2 + clip_range_vf: null + normalize_advantage: true + ent_coef: 0.01 + vf_coef: 0.5 + max_grad_norm: 0.5 + use_sde: false + sde_sample_freq: -1 + rollout_buffer_class: null + rollout_buffer_kwargs: null + target_kl: null + stats_window_size: 100 + tensorboard_log: null + verbose: 0 + seed: ${seed} + device: ${rl_device} + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-easy-v0/PPO/4/eval_sequence_10000.csv b/training/sarl/CylinderRot2D-easy-v0/PPO/4/eval_sequence_10000.csv new file mode 100644 index 0000000000000000000000000000000000000000..ea579bf1f0a9cf5a5a07ccced6a969d1203ac4d7 --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/PPO/4/eval_sequence_10000.csv @@ -0,0 +1,81 @@ +drag,lift,action_0,reward +3.3647974,1.1837245,0.4162944,-1.220366358757019 +3.311284,1.0301304,0.392693,-1.013258934020996 +3.246592,0.7750789,0.36354315,-0.693515419960022 +3.2079387,0.49134803,0.28072947,-0.37113118171691895 +3.2230449,0.2071842,0.1358834,-0.1020735502243042 +3.2716982,-0.04510953,-0.007042939,0.011347752064466476 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a/training/sarl/CylinderRot2D-easy-v0/PPO/4/eval_sequence_15000.csv b/training/sarl/CylinderRot2D-easy-v0/PPO/4/eval_sequence_15000.csv new file mode 100644 index 0000000000000000000000000000000000000000..997574f8e6c87c1cbfc55276e584745abd0e4a58 --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/PPO/4/eval_sequence_15000.csv @@ -0,0 +1,81 @@ +drag,lift,action_0,reward +3.3566592,1.2202517,0.71545523,-1.2487553358078003 +3.2817225,1.1589242,0.6663544,-1.112491250038147 +3.2045357,1.0273869,0.58401704,-0.9037671089172363 +3.1752062,0.87780523,0.30336663,-0.724855899810791 +3.2117715,0.68075615,-0.011219968,-0.5643721222877502 +3.2693787,0.43559742,-0.20012067,-0.37682056427001953 +3.2983387,0.16447362,-0.2796165,-0.13465675711631775 +3.2881186,-0.089272566,-0.26833767,-0.04923564940690994 +3.2602272,-0.26421437,-0.17447683,-0.19628605246543884 +3.2338986,-0.3107862,-0.009176975,-0.21652930974960327 +3.2188683,-0.21632126,0.14472121,-0.10703399777412415 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-0,0 +1,160 @@ +hydra: + run: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + sweep: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_ppo + - env_id=CylinderRot2D-easy-v0 + - rl_mode=sarl + - seed=4 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_ppo,env_id=CylinderRot2D-easy-v0,rl_mode=sarl,seed=4 + id: '0' + num: 0 + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/training/sarl/CylinderRot2D-easy-v0/PPO/4 + choices: + cluster: local + algorithm: sb3_ppo + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/training/sarl/CylinderRot2D-easy-v0/PPO/4/multirun.yaml b/training/sarl/CylinderRot2D-easy-v0/PPO/4/multirun.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ed7e3055b2ed45f3085f3172fd444cebefbba8a9 --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/PPO/4/multirun.yaml @@ -0,0 +1,218 @@ +hydra: + run: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + sweep: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_ppo + - env_id=CylinderRot2D-easy-v0 + - rl_mode=sarl + - seed=4 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_ppo,env_id=CylinderRot2D-easy-v0,rl_mode=sarl,seed=4 + id: ??? + num: ??? + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: ??? + choices: + cluster: local + algorithm: sb3_ppo + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false +env_id: CylinderRot2D-easy-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 4 +rl_mode: sarl +total_timesteps: 50000.0 +n_eval_steps: 10 +eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}} +n_eval_episodes: 1 +continue_training: false +checkpoint_latest: true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: PPO + obj: + _target_: stable_baselines3.ppo.ppo.PPO + policy: MlpPolicy + learning_rate: 0.0003 + n_steps: 2048 + batch_size: 64 + n_epochs: 10 + gamma: 0.99 + gae_lambda: 0.95 + clip_range: 0.2 + clip_range_vf: null + normalize_advantage: true + ent_coef: 0.01 + vf_coef: 0.5 + max_grad_norm: 0.5 + use_sde: false + sde_sample_freq: -1 + rollout_buffer_class: null + rollout_buffer_kwargs: null + target_kl: null + stats_window_size: 100 + tensorboard_log: null + verbose: 0 + seed: ${seed} + device: ${rl_device} + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-easy-v0/PPO/4/overrides.yaml b/training/sarl/CylinderRot2D-easy-v0/PPO/4/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b790f6fdfa2d6662c1d41eb486bb17ec9590f32b --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/PPO/4/overrides.yaml @@ -0,0 +1,4 @@ +- algorithm=sb3_ppo +- env_id=CylinderRot2D-easy-v0 +- rl_mode=sarl +- seed=4 diff --git a/training/sarl/CylinderRot2D-easy-v0/PPO/4/test/test_eval_episode_0.csv b/training/sarl/CylinderRot2D-easy-v0/PPO/4/test/test_eval_episode_0.csv new file mode 100644 index 0000000000000000000000000000000000000000..cfb618c1c0d30668f75560cc6969b52fcdbe33dc --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/PPO/4/test/test_eval_episode_0.csv @@ -0,0 +1,81 @@ +drag,lift,action_0,reward +3.3739557,1.0737841,0.07659093,-1.119584321975708 +3.3184052,0.8736377,1.0,-0.8638873100280762 +3.2322717,0.730298,1.0,-0.6344141364097595 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+checkpoint_latest: true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: SAC + obj: + _target_: stable_baselines3.sac.sac.SAC + policy: MlpPolicy + learning_rate: 0.0003 + buffer_size: 1000000 + learning_starts: 100 + batch_size: 256 + tau: 0.005 + gamma: 0.99 + train_freq: 1 + gradient_steps: -1 + action_noise: null + replay_buffer_class: null + replay_buffer_kwargs: null + optimize_memory_usage: false + ent_coef: auto + target_update_interval: 1 + target_entropy: auto + use_sde: false + sde_sample_freq: -1 + use_sde_at_warmup: false + stats_window_size: 100 + tensorboard_log: null + policy_kwargs: {} + verbose: 0 + seed: ${seed} + device: cuda + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-easy-v0/SAC/0/eval_sequence_10000.csv b/training/sarl/CylinderRot2D-easy-v0/SAC/0/eval_sequence_10000.csv new file mode 100644 index 0000000000000000000000000000000000000000..48343ee9739c6f365b884331c5a9010c84b79ea3 --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/SAC/0/eval_sequence_10000.csv @@ -0,0 +1,81 @@ +drag,lift,action_0,reward +3.3672895,1.1728278,0.3267696,-1.2119618654251099 +3.3099337,1.0486389,0.77043796,-1.0304170846939087 +3.229635,0.8828697,0.5991875,-0.7843492031097412 +3.1882086,0.66976637,0.18064654,-0.5298194289207458 +3.2145805,0.43205443,-0.08874428,-0.3184794485569 +3.269946,0.20738189,0.039486527,-0.14917246997356415 +3.3010216,0.021335345,0.030665636,0.005798596888780594 +3.2946649,-0.13591951,-0.36061454,-0.1024288535118103 +3.2695708,-0.23174487,-0.40932715,-0.17316018044948578 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+ _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_sac + - env_id=CylinderRot2D-easy-v0 + - rl_mode=sarl + - seed=0 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_sac,env_id=CylinderRot2D-easy-v0,rl_mode=sarl,seed=0 + id: '0' + num: 0 + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/training/sarl/CylinderRot2D-easy-v0/SAC/0 + choices: + cluster: local + algorithm: sb3_sac + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/training/sarl/CylinderRot2D-easy-v0/SAC/0/multirun.yaml b/training/sarl/CylinderRot2D-easy-v0/SAC/0/multirun.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9b1fcd979c2a9d762db8b70014de8d34c0a254ee --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/SAC/0/multirun.yaml @@ -0,0 +1,220 @@ +hydra: + run: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + sweep: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_sac + - env_id=CylinderRot2D-easy-v0 + - rl_mode=sarl + - seed=0 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_sac,env_id=CylinderRot2D-easy-v0,rl_mode=sarl,seed=0 + id: ??? + num: ??? + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: ??? + choices: + cluster: local + algorithm: sb3_sac + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false +env_id: CylinderRot2D-easy-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 0 +rl_mode: sarl +total_timesteps: 50000.0 +n_eval_steps: 10 +eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}} +n_eval_episodes: 1 +continue_training: false +checkpoint_latest: true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: SAC + obj: + _target_: stable_baselines3.sac.sac.SAC + policy: MlpPolicy + learning_rate: 0.0003 + buffer_size: 1000000 + learning_starts: 100 + batch_size: 256 + tau: 0.005 + gamma: 0.99 + train_freq: 1 + gradient_steps: -1 + action_noise: null + replay_buffer_class: null + replay_buffer_kwargs: null + optimize_memory_usage: false + ent_coef: auto + target_update_interval: 1 + target_entropy: auto + use_sde: false + sde_sample_freq: -1 + use_sde_at_warmup: false + stats_window_size: 100 + tensorboard_log: null + policy_kwargs: {} + verbose: 0 + seed: ${seed} + device: cuda + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-easy-v0/SAC/0/overrides.yaml b/training/sarl/CylinderRot2D-easy-v0/SAC/0/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..76f22da4602553baa81ca3cede6dcf648ac71bdb --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/SAC/0/overrides.yaml @@ -0,0 +1,4 @@ +- algorithm=sb3_sac +- env_id=CylinderRot2D-easy-v0 +- rl_mode=sarl +- seed=0 diff --git a/training/sarl/CylinderRot2D-easy-v0/SAC/0/test/test_eval_episode_0.csv b/training/sarl/CylinderRot2D-easy-v0/SAC/0/test/test_eval_episode_0.csv new file mode 100644 index 0000000000000000000000000000000000000000..41671b305f35088ff739ce0ffdb1d287d884f8cc --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/SAC/0/test/test_eval_episode_0.csv @@ -0,0 +1,81 @@ +drag,lift,action_0,reward +3.3522296,1.1683409,0.85097027,-1.1924149990081787 +3.261424,1.1087614,0.91556895,-1.0420299768447876 +3.185365,0.98603827,0.3910544,-0.8432477116584778 +3.179026,0.7339148,-0.6743683,-0.5847851634025574 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+++ b/training/sarl/CylinderRot2D-easy-v0/SAC/1/config.yaml @@ -0,0 +1,60 @@ +env_id: CylinderRot2D-easy-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 1 +rl_mode: sarl +total_timesteps: 50000.0 +n_eval_steps: 10 +eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}} +n_eval_episodes: 1 +continue_training: false +checkpoint_latest: true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: SAC + obj: + _target_: stable_baselines3.sac.sac.SAC + policy: MlpPolicy + learning_rate: 0.0003 + buffer_size: 1000000 + learning_starts: 100 + batch_size: 256 + tau: 0.005 + gamma: 0.99 + train_freq: 1 + gradient_steps: -1 + action_noise: null + replay_buffer_class: null + replay_buffer_kwargs: null + optimize_memory_usage: false + ent_coef: auto + target_update_interval: 1 + target_entropy: auto + use_sde: false + sde_sample_freq: -1 + use_sde_at_warmup: false + stats_window_size: 100 + tensorboard_log: null + policy_kwargs: {} + verbose: 0 + seed: ${seed} + device: cuda + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-easy-v0/SAC/1/eval_sequence_10000.csv b/training/sarl/CylinderRot2D-easy-v0/SAC/1/eval_sequence_10000.csv new file mode 100644 index 0000000000000000000000000000000000000000..aa8874c40c3a4d29637117bc47d3461dc5a20246 --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/SAC/1/eval_sequence_10000.csv @@ -0,0 +1,81 @@ +drag,lift,action_0,reward +3.3675373,1.1717601,0.31799304,-1.21114182472229 +3.3118515,1.0392987,0.7172421,-1.0229946374893188 +3.2329128,0.866598,0.63818073,-0.7713552713394165 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0000000000000000000000000000000000000000..428015ddf33519494cedd647bb21c735f1e2368f --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/SAC/1/hydra.yaml @@ -0,0 +1,160 @@ +hydra: + run: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + sweep: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_sac + - env_id=CylinderRot2D-easy-v0 + - rl_mode=sarl + - seed=1 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_sac,env_id=CylinderRot2D-easy-v0,rl_mode=sarl,seed=1 + id: '0' + num: 0 + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/training/sarl/CylinderRot2D-easy-v0/SAC/1 + choices: + cluster: local + algorithm: sb3_sac + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/training/sarl/CylinderRot2D-easy-v0/SAC/1/multirun.yaml b/training/sarl/CylinderRot2D-easy-v0/SAC/1/multirun.yaml new file mode 100644 index 0000000000000000000000000000000000000000..130e276bcd06c1685eec3572bed2ee4f98fc93d3 --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/SAC/1/multirun.yaml @@ -0,0 +1,220 @@ +hydra: + run: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + sweep: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_sac + - env_id=CylinderRot2D-easy-v0 + - rl_mode=sarl + - seed=1 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_sac,env_id=CylinderRot2D-easy-v0,rl_mode=sarl,seed=1 + id: ??? + num: ??? + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: ??? + choices: + cluster: local + algorithm: sb3_sac + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false +env_id: CylinderRot2D-easy-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 1 +rl_mode: sarl +total_timesteps: 50000.0 +n_eval_steps: 10 +eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}} +n_eval_episodes: 1 +continue_training: false +checkpoint_latest: true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: SAC + obj: + _target_: stable_baselines3.sac.sac.SAC + policy: MlpPolicy + learning_rate: 0.0003 + buffer_size: 1000000 + learning_starts: 100 + batch_size: 256 + tau: 0.005 + gamma: 0.99 + train_freq: 1 + gradient_steps: -1 + action_noise: null + replay_buffer_class: null + replay_buffer_kwargs: null + optimize_memory_usage: false + ent_coef: auto + target_update_interval: 1 + target_entropy: auto + use_sde: false + sde_sample_freq: -1 + use_sde_at_warmup: false + stats_window_size: 100 + tensorboard_log: null + policy_kwargs: {} + verbose: 0 + seed: ${seed} + device: cuda + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-easy-v0/SAC/1/overrides.yaml b/training/sarl/CylinderRot2D-easy-v0/SAC/1/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0108a876aaa06b15ab7cbc3743a08901150022b0 --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/SAC/1/overrides.yaml @@ -0,0 +1,4 @@ +- algorithm=sb3_sac +- env_id=CylinderRot2D-easy-v0 +- rl_mode=sarl +- seed=1 diff --git a/training/sarl/CylinderRot2D-easy-v0/SAC/1/test/test_eval_episode_0.csv b/training/sarl/CylinderRot2D-easy-v0/SAC/1/test/test_eval_episode_0.csv new file mode 100644 index 0000000000000000000000000000000000000000..2948a6088a4391f2b2cc7e10ec91113097ae616d --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/SAC/1/test/test_eval_episode_0.csv 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fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: SAC + obj: + _target_: stable_baselines3.sac.sac.SAC + policy: MlpPolicy + learning_rate: 0.0003 + buffer_size: 1000000 + learning_starts: 100 + batch_size: 256 + tau: 0.005 + gamma: 0.99 + train_freq: 1 + gradient_steps: -1 + action_noise: null + replay_buffer_class: null + replay_buffer_kwargs: null + optimize_memory_usage: false + ent_coef: auto + target_update_interval: 1 + target_entropy: auto + use_sde: false + sde_sample_freq: -1 + use_sde_at_warmup: false + stats_window_size: 100 + tensorboard_log: null + policy_kwargs: {} + verbose: 0 + seed: ${seed} + device: cuda + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-easy-v0/SAC/2/eval_sequence_10000.csv b/training/sarl/CylinderRot2D-easy-v0/SAC/2/eval_sequence_10000.csv new file mode 100644 index 0000000000000000000000000000000000000000..43bef1ec424e17e527b87298fe8e088021666faf --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/SAC/2/eval_sequence_10000.csv @@ -0,0 +1,81 @@ +drag,lift,action_0,reward +3.363672,1.1886902,0.4570353,-1.2242066860198975 +3.3009932,1.0807725,0.69775045,-1.0536102056503296 +3.2228494,0.9194963,0.59724045,-0.814190149307251 +3.185125,0.704897,0.06991708,-0.5618665814399719 +3.2132306,0.42924976,-0.21702886,-0.31432485580444336 +3.2650633,0.19527517,0.37033236,-0.13218294084072113 +3.292726,-0.0007599979,-0.14468545,0.034669481217861176 +3.2883084,-0.19159706,-0.3906014,-0.15174992382526398 +3.2685907,-0.27263057,-0.342759,-0.2130657434463501 +3.242927,-0.25651616,-0.1322341,-0.17128771543502808 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hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_sac + - env_id=CylinderRot2D-easy-v0 + - rl_mode=sarl + - seed=2 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_sac,env_id=CylinderRot2D-easy-v0,rl_mode=sarl,seed=2 + id: '0' + num: 0 + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/training/sarl/CylinderRot2D-easy-v0/SAC/2 + choices: + cluster: local + algorithm: sb3_sac + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/training/sarl/CylinderRot2D-easy-v0/SAC/2/multirun.yaml b/training/sarl/CylinderRot2D-easy-v0/SAC/2/multirun.yaml new file mode 100644 index 0000000000000000000000000000000000000000..94856c7821fc128ab09b70fabe41aa2fffdf5d2a --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/SAC/2/multirun.yaml @@ -0,0 +1,220 @@ +hydra: + run: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + sweep: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_sac + - env_id=CylinderRot2D-easy-v0 + - rl_mode=sarl + - seed=2 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_sac,env_id=CylinderRot2D-easy-v0,rl_mode=sarl,seed=2 + id: ??? + num: ??? + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: ??? + choices: + cluster: local + algorithm: sb3_sac + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false +env_id: CylinderRot2D-easy-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 2 +rl_mode: sarl +total_timesteps: 50000.0 +n_eval_steps: 10 +eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}} +n_eval_episodes: 1 +continue_training: false +checkpoint_latest: true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: SAC + obj: + _target_: stable_baselines3.sac.sac.SAC + policy: MlpPolicy + learning_rate: 0.0003 + buffer_size: 1000000 + learning_starts: 100 + batch_size: 256 + tau: 0.005 + gamma: 0.99 + train_freq: 1 + gradient_steps: -1 + action_noise: null + replay_buffer_class: null + replay_buffer_kwargs: null + optimize_memory_usage: false + ent_coef: auto + target_update_interval: 1 + target_entropy: auto + use_sde: false + sde_sample_freq: -1 + use_sde_at_warmup: false + stats_window_size: 100 + tensorboard_log: null + policy_kwargs: {} + verbose: 0 + seed: ${seed} + device: cuda + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-easy-v0/SAC/2/overrides.yaml b/training/sarl/CylinderRot2D-easy-v0/SAC/2/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e2b28b145e205408107b51a0e4a90b2d18d91910 --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/SAC/2/overrides.yaml @@ -0,0 +1,4 @@ +- algorithm=sb3_sac +- env_id=CylinderRot2D-easy-v0 +- rl_mode=sarl +- seed=2 diff --git a/training/sarl/CylinderRot2D-easy-v0/SAC/2/test/test_eval_episode_0.csv b/training/sarl/CylinderRot2D-easy-v0/SAC/2/test/test_eval_episode_0.csv new file mode 100644 index 0000000000000000000000000000000000000000..cd771e892518e53cf811e735f32be8f1175746ea --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/SAC/2/test/test_eval_episode_0.csv @@ -0,0 +1,81 @@ +drag,lift,action_0,reward +3.3580637,1.1418846,0.6350553,-1.17179274559021 +3.2759485,1.0441656,0.951108,-0.9919586181640625 +3.1961064,0.95169,0.83597994,-0.8196409344673157 +3.180022,0.7172399,-0.952937,-0.56910640001297 +3.2286935,0.3668585,-0.27728736,-0.267396479845047 +3.2651021,0.14417408,0.7523446,-0.08112071454524994 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+eval_env_kwargs: {} +seed: 3 +rl_mode: sarl +total_timesteps: 50000.0 +n_eval_steps: 10 +eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}} +n_eval_episodes: 1 +continue_training: false +checkpoint_latest: true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: SAC + obj: + _target_: stable_baselines3.sac.sac.SAC + policy: MlpPolicy + learning_rate: 0.0003 + buffer_size: 1000000 + learning_starts: 100 + batch_size: 256 + tau: 0.005 + gamma: 0.99 + train_freq: 1 + gradient_steps: -1 + action_noise: null + replay_buffer_class: null + replay_buffer_kwargs: null + optimize_memory_usage: false + ent_coef: auto + target_update_interval: 1 + target_entropy: auto + use_sde: false + sde_sample_freq: -1 + use_sde_at_warmup: false + stats_window_size: 100 + tensorboard_log: null + policy_kwargs: {} + verbose: 0 + seed: ${seed} + device: cuda + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-easy-v0/SAC/3/eval_sequence_10000.csv b/training/sarl/CylinderRot2D-easy-v0/SAC/3/eval_sequence_10000.csv new file mode 100644 index 0000000000000000000000000000000000000000..149f8b80025cfa8710a4bc1e85a71440025858e6 --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/SAC/3/eval_sequence_10000.csv @@ -0,0 +1,81 @@ +drag,lift,action_0,reward +3.3655386,1.1804719,0.38959634,-1.2178549766540527 +3.3059793,1.061898,0.7174244,-1.0397217273712158 +3.226607,0.90341765,0.66855764,-0.8018692135810852 +3.1861317,0.70428634,0.16024089,-0.5622625350952148 +3.213828,0.45476112,-0.20099467,-0.34043368697166443 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output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + sweep: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_sac + - env_id=CylinderRot2D-easy-v0 + - rl_mode=sarl + - seed=3 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_sac,env_id=CylinderRot2D-easy-v0,rl_mode=sarl,seed=3 + id: '0' + num: 0 + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/training/sarl/CylinderRot2D-easy-v0/SAC/3 + choices: + cluster: local + algorithm: sb3_sac + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/training/sarl/CylinderRot2D-easy-v0/SAC/3/multirun.yaml b/training/sarl/CylinderRot2D-easy-v0/SAC/3/multirun.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d3bd49e2d0d5c4ffc6168b6efdde57d78e941820 --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/SAC/3/multirun.yaml @@ -0,0 +1,220 @@ +hydra: + run: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + sweep: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_sac + - env_id=CylinderRot2D-easy-v0 + - rl_mode=sarl + - seed=3 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_sac,env_id=CylinderRot2D-easy-v0,rl_mode=sarl,seed=3 + id: ??? + num: ??? + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: ??? + choices: + cluster: local + algorithm: sb3_sac + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false +env_id: CylinderRot2D-easy-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 3 +rl_mode: sarl +total_timesteps: 50000.0 +n_eval_steps: 10 +eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}} +n_eval_episodes: 1 +continue_training: false +checkpoint_latest: true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: SAC + obj: + _target_: stable_baselines3.sac.sac.SAC + policy: MlpPolicy + learning_rate: 0.0003 + buffer_size: 1000000 + learning_starts: 100 + batch_size: 256 + tau: 0.005 + gamma: 0.99 + train_freq: 1 + gradient_steps: -1 + action_noise: null + replay_buffer_class: null + replay_buffer_kwargs: null + optimize_memory_usage: false + ent_coef: auto + target_update_interval: 1 + target_entropy: auto + use_sde: false + sde_sample_freq: -1 + use_sde_at_warmup: false + stats_window_size: 100 + tensorboard_log: null + policy_kwargs: {} + verbose: 0 + seed: ${seed} + device: cuda + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-easy-v0/SAC/3/overrides.yaml b/training/sarl/CylinderRot2D-easy-v0/SAC/3/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..912cf01486df7d983bde25409ce50354da3fe491 --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/SAC/3/overrides.yaml @@ -0,0 +1,4 @@ +- algorithm=sb3_sac +- env_id=CylinderRot2D-easy-v0 +- rl_mode=sarl +- seed=3 diff --git a/training/sarl/CylinderRot2D-easy-v0/SAC/3/test/test_eval_episode_0.csv b/training/sarl/CylinderRot2D-easy-v0/SAC/3/test/test_eval_episode_0.csv new file mode 100644 index 0000000000000000000000000000000000000000..f0264e30ae5b8ee8407b4b42b862e96be563aac1 --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/SAC/3/test/test_eval_episode_0.csv @@ -0,0 +1,81 @@ +drag,lift,action_0,reward +3.3552673,1.1544813,0.73788345,-1.1815930604934692 +3.268527,1.0780085,0.9593055,-1.018380045890808 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${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: SAC + obj: + _target_: stable_baselines3.sac.sac.SAC + policy: MlpPolicy + learning_rate: 0.0003 + buffer_size: 1000000 + learning_starts: 100 + batch_size: 256 + tau: 0.005 + gamma: 0.99 + train_freq: 1 + gradient_steps: -1 + action_noise: null + replay_buffer_class: null + replay_buffer_kwargs: null + optimize_memory_usage: false + ent_coef: auto + target_update_interval: 1 + target_entropy: auto + use_sde: false + sde_sample_freq: -1 + use_sde_at_warmup: false + stats_window_size: 100 + tensorboard_log: null + policy_kwargs: {} + verbose: 0 + seed: ${seed} + device: cuda + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-easy-v0/SAC/4/eval_sequence_10000.csv 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Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_sac + - env_id=CylinderRot2D-easy-v0 + - rl_mode=sarl + - seed=4 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_sac,env_id=CylinderRot2D-easy-v0,rl_mode=sarl,seed=4 + id: '0' + num: 0 + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/training/sarl/CylinderRot2D-easy-v0/SAC/4 + choices: + cluster: local + algorithm: sb3_sac + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/training/sarl/CylinderRot2D-easy-v0/SAC/4/multirun.yaml b/training/sarl/CylinderRot2D-easy-v0/SAC/4/multirun.yaml new file mode 100644 index 0000000000000000000000000000000000000000..98e8d561c385dbba0d346570f026528dbf8afa9c --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/SAC/4/multirun.yaml @@ -0,0 +1,220 @@ +hydra: + run: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + sweep: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_sac + - env_id=CylinderRot2D-easy-v0 + - rl_mode=sarl + - seed=4 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_sac,env_id=CylinderRot2D-easy-v0,rl_mode=sarl,seed=4 + id: ??? + num: ??? + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: ??? + choices: + cluster: local + algorithm: sb3_sac + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false +env_id: CylinderRot2D-easy-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 4 +rl_mode: sarl +total_timesteps: 50000.0 +n_eval_steps: 10 +eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}} +n_eval_episodes: 1 +continue_training: false +checkpoint_latest: true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: SAC + obj: + _target_: stable_baselines3.sac.sac.SAC + policy: MlpPolicy + learning_rate: 0.0003 + buffer_size: 1000000 + learning_starts: 100 + batch_size: 256 + tau: 0.005 + gamma: 0.99 + train_freq: 1 + gradient_steps: -1 + action_noise: null + replay_buffer_class: null + replay_buffer_kwargs: null + optimize_memory_usage: false + ent_coef: auto + target_update_interval: 1 + target_entropy: auto + use_sde: false + sde_sample_freq: -1 + use_sde_at_warmup: false + stats_window_size: 100 + tensorboard_log: null + policy_kwargs: {} + verbose: 0 + seed: ${seed} + device: cuda + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-easy-v0/SAC/4/overrides.yaml b/training/sarl/CylinderRot2D-easy-v0/SAC/4/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b7a326608ab68fa6b9fbbf5c6eaaa59a75a52e2c --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/SAC/4/overrides.yaml @@ -0,0 +1,4 @@ +- algorithm=sb3_sac +- env_id=CylinderRot2D-easy-v0 +- rl_mode=sarl +- seed=4 diff --git a/training/sarl/CylinderRot2D-easy-v0/SAC/4/test/test_eval_episode_0.csv b/training/sarl/CylinderRot2D-easy-v0/SAC/4/test/test_eval_episode_0.csv new file mode 100644 index 0000000000000000000000000000000000000000..03a61fc0d23fdea92e6d0b36f3da34c884449972 --- /dev/null +++ b/training/sarl/CylinderRot2D-easy-v0/SAC/4/test/test_eval_episode_0.csv @@ -0,0 +1,81 @@ +drag,lift,action_0,reward +3.3558025,1.1521071,0.71846676,-1.1797541379928589 +3.2698302,1.0722474,0.9628725,-1.013922095298767 +3.1908114,0.9895367,0.79897344,-0.8521925806999207 +3.1787686,0.7705481,-0.8958892,-0.6211612224578857 +3.2318563,0.41574806,-0.43078685,-0.31944888830184937 +3.2679107,0.17695038,0.8455045,-0.11670558154582977 +3.250926,-0.007410505,0.3301345,0.06981899589300156 +3.2383924,-0.2051071,-0.91131324,-0.11534392833709717 +3.2310424,-0.30168304,-0.7678562,-0.20456990599632263 +3.2254667,-0.20034912,0.63370156,-0.09766033291816711 +3.2118073,-0.06858423,0.087828755,0.04776403307914734 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@@ -0,0 +1,58 @@ +env_id: CylinderRot2D-hard-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 0 +rl_mode: sarl +total_timesteps: 50000.0 +n_eval_steps: 10 +eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}} +n_eval_episodes: 1 +continue_training: false +checkpoint_latest: true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: PPO + obj: + _target_: stable_baselines3.ppo.ppo.PPO + policy: MlpPolicy + learning_rate: 0.0003 + n_steps: 2048 + batch_size: 64 + n_epochs: 10 + gamma: 0.99 + gae_lambda: 0.95 + clip_range: 0.2 + clip_range_vf: null + normalize_advantage: true + ent_coef: 0.01 + vf_coef: 0.5 + max_grad_norm: 0.5 + use_sde: false + sde_sample_freq: -1 + rollout_buffer_class: null + rollout_buffer_kwargs: null + target_kl: null + stats_window_size: 100 + tensorboard_log: null + verbose: 0 + seed: ${seed} + device: ${rl_device} + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-hard-v0/PPO/0/eval_sequence_10000.csv b/training/sarl/CylinderRot2D-hard-v0/PPO/0/eval_sequence_10000.csv new file mode 100644 index 0000000000000000000000000000000000000000..a21befc304e8c032876b40d350073055d8aa3a2e --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/PPO/0/eval_sequence_10000.csv @@ -0,0 +1,81 @@ +drag,lift,action_0,reward +3.7989976,3.226568,0.47474167,-3.4061779975891113 +3.9237804,3.298679,0.5654978,-3.603071928024292 +3.5791626,2.8001971,0.49169108,-2.759972095489502 +2.988048,2.0244977,0.36325517,-1.393158197402954 +2.7316508,0.77332854,0.23991427,0.11440825462341309 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+ Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_ppo + - env_id=CylinderRot2D-hard-v0 + - rl_mode=sarl + - seed=0 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_ppo,env_id=CylinderRot2D-hard-v0,rl_mode=sarl,seed=0 + id: '0' + num: 0 + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/training/sarl/CylinderRot2D-hard-v0/PPO/0 + choices: + cluster: local + algorithm: sb3_ppo + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/training/sarl/CylinderRot2D-hard-v0/PPO/0/multirun.yaml b/training/sarl/CylinderRot2D-hard-v0/PPO/0/multirun.yaml new file mode 100644 index 0000000000000000000000000000000000000000..53fc64b0ad98d8b8561d885c669a5738cc2a0d73 --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/PPO/0/multirun.yaml @@ -0,0 +1,218 @@ +hydra: + run: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + sweep: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_ppo + - env_id=CylinderRot2D-hard-v0 + - rl_mode=sarl + - seed=0 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_ppo,env_id=CylinderRot2D-hard-v0,rl_mode=sarl,seed=0 + id: ??? + num: ??? + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: ??? + choices: + cluster: local + algorithm: sb3_ppo + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false +env_id: CylinderRot2D-hard-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 0 +rl_mode: sarl +total_timesteps: 50000.0 +n_eval_steps: 10 +eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}} +n_eval_episodes: 1 +continue_training: false +checkpoint_latest: true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: PPO + obj: + _target_: stable_baselines3.ppo.ppo.PPO + policy: MlpPolicy + learning_rate: 0.0003 + n_steps: 2048 + batch_size: 64 + n_epochs: 10 + gamma: 0.99 + gae_lambda: 0.95 + clip_range: 0.2 + clip_range_vf: null + normalize_advantage: true + ent_coef: 0.01 + vf_coef: 0.5 + max_grad_norm: 0.5 + use_sde: false + sde_sample_freq: -1 + rollout_buffer_class: null + rollout_buffer_kwargs: null + target_kl: null + stats_window_size: 100 + tensorboard_log: null + verbose: 0 + seed: ${seed} + device: ${rl_device} + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-hard-v0/PPO/0/overrides.yaml b/training/sarl/CylinderRot2D-hard-v0/PPO/0/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..42b9edc8b8abdafe4b85142f1254a967fcdd1048 --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/PPO/0/overrides.yaml @@ -0,0 +1,4 @@ +- algorithm=sb3_ppo +- env_id=CylinderRot2D-hard-v0 +- rl_mode=sarl +- seed=0 diff --git a/training/sarl/CylinderRot2D-hard-v0/PPO/0/test/test_eval_episode_0.csv b/training/sarl/CylinderRot2D-hard-v0/PPO/0/test/test_eval_episode_0.csv new file mode 100644 index 0000000000000000000000000000000000000000..906762dc17e1dfa013d2e74461d334fb1215932f --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/PPO/0/test/test_eval_episode_0.csv @@ -0,0 +1,81 @@ +drag,lift,action_0,reward +3.9865441,-3.1160965,-1.0,-3.483253002166748 +3.496708,-2.2614233,-1.0,-2.1387436389923096 +2.8312771,-1.1794702,-0.026899284,-0.39135968685150146 +2.862465,-0.19704215,0.0911526,0.5598805546760559 +3.2044427,0.2985916,0.883414,0.11635327339172363 +3.432609,0.28027523,1.0,-0.09349668025970459 +3.2575607,-0.1769938,1.0,0.1848330944776535 +3.3373187,-0.7668834,-0.6467314,-0.4848144054412842 +3.5516021,-0.99698025,-1.0,-0.9291947484016418 +3.2958355,-1.000466,-1.0,-0.676913857460022 +2.7744942,-0.9651697,-0.6764326,-0.12027627229690552 +2.8840628,-0.63909256,-0.11683165,0.09623229503631592 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true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: PPO + obj: + _target_: stable_baselines3.ppo.ppo.PPO + policy: MlpPolicy + learning_rate: 0.0003 + n_steps: 2048 + batch_size: 64 + n_epochs: 10 + gamma: 0.99 + gae_lambda: 0.95 + clip_range: 0.2 + clip_range_vf: null + normalize_advantage: true + ent_coef: 0.01 + vf_coef: 0.5 + max_grad_norm: 0.5 + use_sde: false + sde_sample_freq: -1 + rollout_buffer_class: null + rollout_buffer_kwargs: null + target_kl: null + stats_window_size: 100 + tensorboard_log: null + verbose: 0 + seed: ${seed} + device: ${rl_device} + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-hard-v0/PPO/1/eval_sequence_10000.csv b/training/sarl/CylinderRot2D-hard-v0/PPO/1/eval_sequence_10000.csv new file mode 100644 index 0000000000000000000000000000000000000000..d62e557c72e04d8c477e89498d1ee3c7ca18e369 --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/PPO/1/eval_sequence_10000.csv @@ -0,0 +1,81 @@ +drag,lift,action_0,reward +3.8049614,3.2386968,0.6366705,-3.4242706298828125 +3.882416,3.3262765,0.773236,-3.5893049240112305 +3.4778242,2.9105642,0.79400194,-2.769000768661499 +2.8489196,2.3223145,0.7169986,-1.5518465042114258 +2.197839,1.2413645,0.5521008,0.18018412590026855 +2.8503637,-0.009350529,0.17141524,0.7596733570098877 +3.3833096,-0.8324425,-0.19540556,-0.5963644981384277 +3.4606192,-1.1127112,-0.296232,-0.9539427757263184 +3.1021233,-1.1302564,-0.28257447,-0.6129920482635498 +2.648591,-0.9476709,-0.16191348,0.02312570810317993 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sweep: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_ppo + - env_id=CylinderRot2D-hard-v0 + - rl_mode=sarl + - seed=1 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_ppo,env_id=CylinderRot2D-hard-v0,rl_mode=sarl,seed=1 + id: '0' + num: 0 + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/training/sarl/CylinderRot2D-hard-v0/PPO/1 + choices: + cluster: local + algorithm: sb3_ppo + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/training/sarl/CylinderRot2D-hard-v0/PPO/1/multirun.yaml b/training/sarl/CylinderRot2D-hard-v0/PPO/1/multirun.yaml new file mode 100644 index 0000000000000000000000000000000000000000..20a1fb15747ad8f932bbeec254d30804d352cff7 --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/PPO/1/multirun.yaml @@ -0,0 +1,218 @@ +hydra: + run: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + sweep: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_ppo + - env_id=CylinderRot2D-hard-v0 + - rl_mode=sarl + - seed=1 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_ppo,env_id=CylinderRot2D-hard-v0,rl_mode=sarl,seed=1 + id: ??? + num: ??? + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: ??? + choices: + cluster: local + algorithm: sb3_ppo + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false +env_id: CylinderRot2D-hard-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 1 +rl_mode: sarl +total_timesteps: 50000.0 +n_eval_steps: 10 +eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}} +n_eval_episodes: 1 +continue_training: false +checkpoint_latest: true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: PPO + obj: + _target_: stable_baselines3.ppo.ppo.PPO + policy: MlpPolicy + learning_rate: 0.0003 + n_steps: 2048 + batch_size: 64 + n_epochs: 10 + gamma: 0.99 + gae_lambda: 0.95 + clip_range: 0.2 + clip_range_vf: null + normalize_advantage: true + ent_coef: 0.01 + vf_coef: 0.5 + max_grad_norm: 0.5 + use_sde: false + sde_sample_freq: -1 + rollout_buffer_class: null + rollout_buffer_kwargs: null + target_kl: null + stats_window_size: 100 + tensorboard_log: null + verbose: 0 + seed: ${seed} + device: ${rl_device} + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-hard-v0/PPO/1/overrides.yaml b/training/sarl/CylinderRot2D-hard-v0/PPO/1/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bf76723edd875e7dd02f2fea6fc42852ccdfe732 --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/PPO/1/overrides.yaml @@ -0,0 +1,4 @@ +- algorithm=sb3_ppo +- env_id=CylinderRot2D-hard-v0 +- rl_mode=sarl +- seed=1 diff --git a/training/sarl/CylinderRot2D-hard-v0/PPO/1/test/test_eval_episode_0.csv b/training/sarl/CylinderRot2D-hard-v0/PPO/1/test/test_eval_episode_0.csv new file mode 100644 index 0000000000000000000000000000000000000000..843c9f828be2fe4ac456ae268e5a6c4074c8ce6d --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/PPO/1/test/test_eval_episode_0.csv @@ -0,0 +1,81 @@ +drag,lift,action_0,reward +3.9865441,-3.1160965,-1.0,-3.483253002166748 +3.496708,-2.2614233,-1.0,-2.1387436389923096 +2.906149,-1.2087162,-0.4715534,-0.49547743797302246 +2.7452593,-0.20370086,1.0,0.6704275012016296 +3.1797085,0.22613515,1.0,0.21354399621486664 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${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: PPO + obj: + _target_: stable_baselines3.ppo.ppo.PPO + policy: MlpPolicy + learning_rate: 0.0003 + n_steps: 2048 + batch_size: 64 + n_epochs: 10 + gamma: 0.99 + gae_lambda: 0.95 + clip_range: 0.2 + clip_range_vf: null + normalize_advantage: true + ent_coef: 0.01 + vf_coef: 0.5 + max_grad_norm: 0.5 + use_sde: false + sde_sample_freq: -1 + rollout_buffer_class: null + rollout_buffer_kwargs: null + target_kl: null + stats_window_size: 100 + tensorboard_log: null + verbose: 0 + seed: ${seed} + device: ${rl_device} + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-hard-v0/PPO/2/eval_sequence_10000.csv b/training/sarl/CylinderRot2D-hard-v0/PPO/2/eval_sequence_10000.csv new file mode 100644 index 0000000000000000000000000000000000000000..0da197471c8871023860707c306cf43072086f6e --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/PPO/2/eval_sequence_10000.csv @@ -0,0 +1,81 @@ +drag,lift,action_0,reward +3.7955139,3.2274878,0.51109153,-3.403614044189453 +3.9082038,3.3141522,0.7727647,-3.602968454360962 +3.5193927,2.8577788,0.7450477,-2.757783889770508 +2.8249567,2.1850252,0.65779954,-1.390594244003296 +2.6627057,1.1702586,0.4482844,-0.21357667446136475 +2.8524086,-0.14420508,0.07891459,0.6227738857269287 +3.4211473,-1.0042318,-0.2158302,-0.805991530418396 +3.474121,-1.3174964,-0.3734167,-1.1722298860549927 +3.0679512,-1.329875,-0.23404793,-0.7784385681152344 +2.6265664,-1.0836593,-0.022329127,-0.09083807468414307 +2.5547848,-0.5049902,0.092964076,0.5596126317977905 +2.7702205,0.2444681,0.21497156,0.6046990156173706 +2.8395183,0.90052074,0.3802062,-0.12065142393112183 +2.714703,1.3437889,0.3942145,-0.4391043186187744 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+ app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_ppo + - env_id=CylinderRot2D-hard-v0 + - rl_mode=sarl + - seed=2 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_ppo,env_id=CylinderRot2D-hard-v0,rl_mode=sarl,seed=2 + id: '0' + num: 0 + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/training/sarl/CylinderRot2D-hard-v0/PPO/2 + choices: + cluster: local + algorithm: sb3_ppo + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/training/sarl/CylinderRot2D-hard-v0/PPO/2/multirun.yaml b/training/sarl/CylinderRot2D-hard-v0/PPO/2/multirun.yaml new file mode 100644 index 0000000000000000000000000000000000000000..77816bb1f806018f38d9002d4d0ed974fc111c97 --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/PPO/2/multirun.yaml @@ -0,0 +1,218 @@ +hydra: + run: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + sweep: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_ppo + - env_id=CylinderRot2D-hard-v0 + - rl_mode=sarl + - seed=2 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_ppo,env_id=CylinderRot2D-hard-v0,rl_mode=sarl,seed=2 + id: ??? + num: ??? + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: ??? + choices: + cluster: local + algorithm: sb3_ppo + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false +env_id: CylinderRot2D-hard-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 2 +rl_mode: sarl +total_timesteps: 50000.0 +n_eval_steps: 10 +eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}} +n_eval_episodes: 1 +continue_training: false +checkpoint_latest: true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: PPO + obj: + _target_: stable_baselines3.ppo.ppo.PPO + policy: MlpPolicy + learning_rate: 0.0003 + n_steps: 2048 + batch_size: 64 + n_epochs: 10 + gamma: 0.99 + gae_lambda: 0.95 + clip_range: 0.2 + clip_range_vf: null + normalize_advantage: true + ent_coef: 0.01 + vf_coef: 0.5 + max_grad_norm: 0.5 + use_sde: false + sde_sample_freq: -1 + rollout_buffer_class: null + rollout_buffer_kwargs: null + target_kl: null + stats_window_size: 100 + tensorboard_log: null + verbose: 0 + seed: ${seed} + device: ${rl_device} + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-hard-v0/PPO/2/overrides.yaml b/training/sarl/CylinderRot2D-hard-v0/PPO/2/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1dce95818a8d3fc797626d5d020aed9a6121367f --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/PPO/2/overrides.yaml @@ -0,0 +1,4 @@ +- algorithm=sb3_ppo +- env_id=CylinderRot2D-hard-v0 +- rl_mode=sarl +- seed=2 diff --git a/training/sarl/CylinderRot2D-hard-v0/PPO/2/test/test_eval_episode_0.csv b/training/sarl/CylinderRot2D-hard-v0/PPO/2/test/test_eval_episode_0.csv new file mode 100644 index 0000000000000000000000000000000000000000..83abf2eadea1a02ab902d4bdf8e178d49256ee99 --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/PPO/2/test/test_eval_episode_0.csv @@ -0,0 +1,81 @@ +drag,lift,action_0,reward +3.9865441,-3.1160965,-1.0,-3.483253002166748 +3.496708,-2.2614233,-1.0,-2.1387436389923096 +2.828739,-1.1877872,-0.19119897,-0.39713847637176514 +2.9300647,-0.18286067,0.5986399,0.5064622759819031 +3.2072606,0.27814817,0.9788271,0.13397884368896484 +3.4217622,0.25887918,0.75699437,-0.06125378608703613 +3.1567101,-0.03431464,1.0,0.4283628463745117 +3.302622,-0.40639892,0.13863827,-0.08963337540626526 +3.4703221,-0.61668175,-1.0,-0.4676162600517273 +3.421294,-0.53627896,-1.0,-0.33818531036376953 +3.075661,-0.2523994,-1.0,0.29132726788520813 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+rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: PPO + obj: + _target_: stable_baselines3.ppo.ppo.PPO + policy: MlpPolicy + learning_rate: 0.0003 + n_steps: 2048 + batch_size: 64 + n_epochs: 10 + gamma: 0.99 + gae_lambda: 0.95 + clip_range: 0.2 + clip_range_vf: null + normalize_advantage: true + ent_coef: 0.01 + vf_coef: 0.5 + max_grad_norm: 0.5 + use_sde: false + sde_sample_freq: -1 + rollout_buffer_class: null + rollout_buffer_kwargs: null + target_kl: null + stats_window_size: 100 + tensorboard_log: null + verbose: 0 + seed: ${seed} + device: ${rl_device} + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-hard-v0/PPO/3/eval_sequence_10000.csv b/training/sarl/CylinderRot2D-hard-v0/PPO/3/eval_sequence_10000.csv new file mode 100644 index 0000000000000000000000000000000000000000..be0d2d363d5813dcd4b302e3b08f70acfc1b53fb --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/PPO/3/eval_sequence_10000.csv @@ -0,0 +1,81 @@ +drag,lift,action_0,reward +3.8063982,3.2206655,0.33280236,-3.4076759815216064 +3.9312537,3.2949803,0.7915004,-3.606846332550049 +3.5764935,2.8003185,0.84290963,-2.7574243545532227 +2.9076934,2.0802617,0.58830976,-1.3685674667358398 +2.667022,1.0988734,0.29354435,-0.14650774002075195 +2.8197198,-0.09287189,0.1136271,0.7067959308624268 +3.4395213,-0.91658133,-0.16405743,-0.7367150187492371 +3.4394555,-1.151267,-0.4601716,-0.9713349342346191 +2.967075,-0.9429814,-0.47842553,-0.29066890478134155 +2.627238,-0.4229081,-0.2606116,0.5692415237426758 +2.731798,0.24565496,0.04241697,0.6419347524642944 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--- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/PPO/3/hydra.yaml @@ -0,0 +1,160 @@ +hydra: + run: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + sweep: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_ppo + - env_id=CylinderRot2D-hard-v0 + - rl_mode=sarl + - seed=3 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_ppo,env_id=CylinderRot2D-hard-v0,rl_mode=sarl,seed=3 + id: '0' + num: 0 + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/training/sarl/CylinderRot2D-hard-v0/PPO/3 + choices: + cluster: local + algorithm: sb3_ppo + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/training/sarl/CylinderRot2D-hard-v0/PPO/3/multirun.yaml b/training/sarl/CylinderRot2D-hard-v0/PPO/3/multirun.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b89a2c99f858809f66ce8b2c7973e02f5bf7ed19 --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/PPO/3/multirun.yaml @@ -0,0 +1,218 @@ +hydra: + run: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + sweep: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_ppo + - env_id=CylinderRot2D-hard-v0 + - rl_mode=sarl + - seed=3 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_ppo,env_id=CylinderRot2D-hard-v0,rl_mode=sarl,seed=3 + id: ??? + num: ??? + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: ??? + choices: + cluster: local + algorithm: sb3_ppo + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false +env_id: CylinderRot2D-hard-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 3 +rl_mode: sarl +total_timesteps: 50000.0 +n_eval_steps: 10 +eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}} +n_eval_episodes: 1 +continue_training: false +checkpoint_latest: true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: PPO + obj: + _target_: stable_baselines3.ppo.ppo.PPO + policy: MlpPolicy + learning_rate: 0.0003 + n_steps: 2048 + batch_size: 64 + n_epochs: 10 + gamma: 0.99 + gae_lambda: 0.95 + clip_range: 0.2 + clip_range_vf: null + normalize_advantage: true + ent_coef: 0.01 + vf_coef: 0.5 + max_grad_norm: 0.5 + use_sde: false + sde_sample_freq: -1 + rollout_buffer_class: null + rollout_buffer_kwargs: null + target_kl: null + stats_window_size: 100 + tensorboard_log: null + verbose: 0 + seed: ${seed} + device: ${rl_device} + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-hard-v0/PPO/3/overrides.yaml b/training/sarl/CylinderRot2D-hard-v0/PPO/3/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4b2bb84e6c67d90ddded5b207b4d86c7d14cc81a --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/PPO/3/overrides.yaml @@ -0,0 +1,4 @@ +- algorithm=sb3_ppo +- env_id=CylinderRot2D-hard-v0 +- rl_mode=sarl +- seed=3 diff --git a/training/sarl/CylinderRot2D-hard-v0/PPO/3/test/test_eval_episode_0.csv b/training/sarl/CylinderRot2D-hard-v0/PPO/3/test/test_eval_episode_0.csv new file mode 100644 index 0000000000000000000000000000000000000000..9c1cde25bf42284e173babba26a350ceca6ec574 --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/PPO/3/test/test_eval_episode_0.csv @@ -0,0 +1,81 @@ +drag,lift,action_0,reward 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+eval_env_kwargs: {} +seed: 4 +rl_mode: sarl +total_timesteps: 50000.0 +n_eval_steps: 10 +eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}} +n_eval_episodes: 1 +continue_training: false +checkpoint_latest: true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: PPO + obj: + _target_: stable_baselines3.ppo.ppo.PPO + policy: MlpPolicy + learning_rate: 0.0003 + n_steps: 2048 + batch_size: 64 + n_epochs: 10 + gamma: 0.99 + gae_lambda: 0.95 + clip_range: 0.2 + clip_range_vf: null + normalize_advantage: true + ent_coef: 0.01 + vf_coef: 0.5 + max_grad_norm: 0.5 + use_sde: false + sde_sample_freq: -1 + rollout_buffer_class: null + rollout_buffer_kwargs: null + target_kl: null + stats_window_size: 100 + tensorboard_log: null + verbose: 0 + seed: ${seed} + device: ${rl_device} + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-hard-v0/PPO/4/eval_sequence_10000.csv b/training/sarl/CylinderRot2D-hard-v0/PPO/4/eval_sequence_10000.csv new file mode 100644 index 0000000000000000000000000000000000000000..60179dd55ffbb833bfa8628a6769b401bfbc9ef4 --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/PPO/4/eval_sequence_10000.csv @@ -0,0 +1,81 @@ +drag,lift,action_0,reward +3.7947087,3.228516,0.53298694,-3.403837203979492 +3.9040968,3.3155236,0.76132816,-3.6002328395843506 +3.5203612,2.8594446,0.6468622,-2.760418176651001 +2.838395,2.1718624,0.4389877,-1.3908698558807373 +2.5362787,1.091597,0.39012194,-0.008488059043884277 +2.9671307,-0.31266767,0.115989886,0.33958929777145386 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a/training/sarl/CylinderRot2D-hard-v0/PPO/4/eval_sequence_15000.csv b/training/sarl/CylinderRot2D-hard-v0/PPO/4/eval_sequence_15000.csv new file mode 100644 index 0000000000000000000000000000000000000000..c322a752ffa009166bd295309d9fe0e3cdb7ed28 --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/PPO/4/eval_sequence_15000.csv @@ -0,0 +1,81 @@ +drag,lift,action_0,reward +3.80646,3.236768,0.5960664,-3.423840284347534 +3.8863442,3.323056,0.8051021,-3.590012550354004 +3.482419,2.9003923,0.82294554,-2.7634236812591553 +2.8310938,2.2981966,0.64170223,-1.5099027156829834 +2.7492964,1.3175628,0.4529237,-0.44747161865234375 +2.8779132,0.01970361,0.16064417,0.7217707633972168 +3.3865576,-0.8381863,-0.3082862,-0.6053562760353088 +3.4022532,-1.1610749,-0.7207596,-0.9439404010772705 +2.9958835,-1.234526,-0.7540779,-0.611021876335144 +2.5579584,-1.196256,-0.33842424,-0.13482677936553955 +2.526629,-0.97999877,0.11896112,0.11275988817214966 +2.847409,-0.6532623,0.14158142,0.118716299533844 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b/training/sarl/CylinderRot2D-hard-v0/PPO/4/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c17fe839a3ed1d2099d480126ee750bbdc983ed5 --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/PPO/4/hydra.yaml @@ -0,0 +1,160 @@ +hydra: + run: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + sweep: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_ppo + - env_id=CylinderRot2D-hard-v0 + - rl_mode=sarl + - seed=4 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_ppo,env_id=CylinderRot2D-hard-v0,rl_mode=sarl,seed=4 + id: '0' + num: 0 + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/training/sarl/CylinderRot2D-hard-v0/PPO/4 + choices: + cluster: local + algorithm: sb3_ppo + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/training/sarl/CylinderRot2D-hard-v0/PPO/4/multirun.yaml b/training/sarl/CylinderRot2D-hard-v0/PPO/4/multirun.yaml new file mode 100644 index 0000000000000000000000000000000000000000..74a657a7f81d76f4b74463dbe5f43b72a063480f --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/PPO/4/multirun.yaml @@ -0,0 +1,218 @@ +hydra: + run: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + sweep: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_ppo + - env_id=CylinderRot2D-hard-v0 + - rl_mode=sarl + - seed=4 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_ppo,env_id=CylinderRot2D-hard-v0,rl_mode=sarl,seed=4 + id: ??? + num: ??? + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: ??? + choices: + cluster: local + algorithm: sb3_ppo + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false +env_id: CylinderRot2D-hard-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 4 +rl_mode: sarl +total_timesteps: 50000.0 +n_eval_steps: 10 +eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}} +n_eval_episodes: 1 +continue_training: false +checkpoint_latest: true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: PPO + obj: + _target_: stable_baselines3.ppo.ppo.PPO + policy: MlpPolicy + learning_rate: 0.0003 + n_steps: 2048 + batch_size: 64 + n_epochs: 10 + gamma: 0.99 + gae_lambda: 0.95 + clip_range: 0.2 + clip_range_vf: null + normalize_advantage: true + ent_coef: 0.01 + vf_coef: 0.5 + max_grad_norm: 0.5 + use_sde: false + sde_sample_freq: -1 + rollout_buffer_class: null + rollout_buffer_kwargs: null + target_kl: null + stats_window_size: 100 + tensorboard_log: null + verbose: 0 + seed: ${seed} + device: ${rl_device} + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-hard-v0/PPO/4/overrides.yaml b/training/sarl/CylinderRot2D-hard-v0/PPO/4/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1888b3966243eb95153b964ba8b8fd960986371 --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/PPO/4/overrides.yaml @@ -0,0 +1,4 @@ +- algorithm=sb3_ppo +- env_id=CylinderRot2D-hard-v0 +- rl_mode=sarl +- seed=4 diff --git a/training/sarl/CylinderRot2D-hard-v0/PPO/4/test/test_eval_episode_0.csv b/training/sarl/CylinderRot2D-hard-v0/PPO/4/test/test_eval_episode_0.csv new file mode 100644 index 0000000000000000000000000000000000000000..7e00cc4205638d83590e60df61ab2dfacb60569b --- /dev/null +++ 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true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: SAC + obj: + _target_: stable_baselines3.sac.sac.SAC + policy: MlpPolicy + learning_rate: 0.0003 + buffer_size: 1000000 + learning_starts: 100 + batch_size: 256 + tau: 0.005 + gamma: 0.99 + train_freq: 1 + gradient_steps: -1 + action_noise: null + replay_buffer_class: null + replay_buffer_kwargs: null + optimize_memory_usage: false + ent_coef: auto + target_update_interval: 1 + target_entropy: auto + use_sde: false + sde_sample_freq: -1 + use_sde_at_warmup: false + stats_window_size: 100 + tensorboard_log: null + policy_kwargs: {} + verbose: 0 + seed: ${seed} + device: cuda + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-hard-v0/SAC/0/eval_sequence_10000.csv b/training/sarl/CylinderRot2D-hard-v0/SAC/0/eval_sequence_10000.csv new file mode 100644 index 0000000000000000000000000000000000000000..bd8c45d742d9baf3e7daae2305fe015f1bef1617 --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/SAC/0/eval_sequence_10000.csv @@ -0,0 +1,81 @@ +drag,lift,action_0,reward +3.8201175,3.210771,0.08305752,-3.411500930786133 +3.9781084,3.2833254,0.9208194,-3.6420462131500244 +3.6315515,2.738079,0.9640181,-2.7502429485321045 +2.9298918,2.005539,0.96112275,-1.3160431385040283 +2.1977286,1.198856,0.6631695,0.222802996635437 +2.596333,0.32194152,-0.90715444,0.7011131048202515 +3.4269762,-0.14202924,-0.9246371,0.050382182002067566 +3.500517,-0.102252945,-0.8878218,0.0166177898645401 +3.0938299,0.13960853,0.3704661,0.3859492242336273 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+2.1663048,0.33314535,0.10988855,1.1199374198913574 diff --git a/training/sarl/CylinderRot2D-hard-v0/SAC/0/hydra.yaml b/training/sarl/CylinderRot2D-hard-v0/SAC/0/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2305e489933efcf1189ca55379029694dac7acb4 --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/SAC/0/hydra.yaml @@ -0,0 +1,160 @@ +hydra: + run: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + sweep: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_sac + - env_id=CylinderRot2D-hard-v0 + - rl_mode=sarl + - seed=0 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_sac,env_id=CylinderRot2D-hard-v0,rl_mode=sarl,seed=0 + id: '0' + num: 0 + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/training/sarl/CylinderRot2D-hard-v0/SAC/0 + choices: + cluster: local + algorithm: sb3_sac + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/training/sarl/CylinderRot2D-hard-v0/SAC/0/multirun.yaml b/training/sarl/CylinderRot2D-hard-v0/SAC/0/multirun.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2a31db100f31b638730abf4fdba5fb27078c188b --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/SAC/0/multirun.yaml @@ -0,0 +1,220 @@ +hydra: + run: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + sweep: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_sac + - env_id=CylinderRot2D-hard-v0 + - rl_mode=sarl + - seed=0 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_sac,env_id=CylinderRot2D-hard-v0,rl_mode=sarl,seed=0 + id: ??? + num: ??? + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: ??? + choices: + cluster: local + algorithm: sb3_sac + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false +env_id: CylinderRot2D-hard-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 0 +rl_mode: sarl +total_timesteps: 50000.0 +n_eval_steps: 10 +eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}} +n_eval_episodes: 1 +continue_training: false +checkpoint_latest: true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: SAC + obj: + _target_: stable_baselines3.sac.sac.SAC + policy: MlpPolicy + learning_rate: 0.0003 + buffer_size: 1000000 + learning_starts: 100 + batch_size: 256 + tau: 0.005 + gamma: 0.99 + train_freq: 1 + gradient_steps: -1 + action_noise: null + replay_buffer_class: null + replay_buffer_kwargs: null + optimize_memory_usage: false + ent_coef: auto + target_update_interval: 1 + target_entropy: auto + use_sde: false + sde_sample_freq: -1 + use_sde_at_warmup: false + stats_window_size: 100 + tensorboard_log: null + policy_kwargs: {} + verbose: 0 + seed: ${seed} + device: cuda + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-hard-v0/SAC/0/overrides.yaml b/training/sarl/CylinderRot2D-hard-v0/SAC/0/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9e7e3fb309e1202dc306fa87c0da476baa6b1958 --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/SAC/0/overrides.yaml @@ -0,0 +1,4 @@ +- algorithm=sb3_sac +- env_id=CylinderRot2D-hard-v0 +- rl_mode=sarl +- seed=0 diff --git a/training/sarl/CylinderRot2D-hard-v0/SAC/0/test/test_eval_episode_0.csv 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+rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: SAC + obj: + _target_: stable_baselines3.sac.sac.SAC + policy: MlpPolicy + learning_rate: 0.0003 + buffer_size: 1000000 + learning_starts: 100 + batch_size: 256 + tau: 0.005 + gamma: 0.99 + train_freq: 1 + gradient_steps: -1 + action_noise: null + replay_buffer_class: null + replay_buffer_kwargs: null + optimize_memory_usage: false + ent_coef: auto + target_update_interval: 1 + target_entropy: auto + use_sde: false + sde_sample_freq: -1 + use_sde_at_warmup: false + stats_window_size: 100 + tensorboard_log: null + policy_kwargs: {} + verbose: 0 + seed: ${seed} + device: cuda + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-hard-v0/SAC/1/eval_sequence_10000.csv b/training/sarl/CylinderRot2D-hard-v0/SAC/1/eval_sequence_10000.csv new file mode 100644 index 0000000000000000000000000000000000000000..8401fbbc8e186238cc0c941f67a14b7d113b1c79 --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/SAC/1/eval_sequence_10000.csv @@ -0,0 +1,81 @@ +drag,lift,action_0,reward +3.7961614,3.2266018,0.49264395,-3.4033756256103516 +3.9022017,3.3213646,0.9410882,-3.6041786670684814 +3.4919403,2.890453,0.96024406,-2.7630057334899902 +2.7599878,2.3074338,0.95904064,-1.4480340480804443 +2.6750817,1.5298909,0.7700516,-0.5855849981307983 +2.907301,0.41441122,-0.9567074,0.2976754605770111 +3.3730507,-0.21516834,-0.96756685,0.03116859495639801 +3.4379184,-0.4638924,-0.9629612,-0.282423198223114 +2.9888577,-0.6616553,-0.37246513,-0.031125426292419434 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b/training/sarl/CylinderRot2D-hard-v0/SAC/1/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bb6a1fa5c4825d4e1bb6a0016e3b48a65206a374 --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/SAC/1/hydra.yaml @@ -0,0 +1,160 @@ +hydra: + run: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + sweep: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_sac + - env_id=CylinderRot2D-hard-v0 + - rl_mode=sarl + - seed=1 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_sac,env_id=CylinderRot2D-hard-v0,rl_mode=sarl,seed=1 + id: '0' + num: 0 + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/training/sarl/CylinderRot2D-hard-v0/SAC/1 + choices: + cluster: local + algorithm: sb3_sac + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/training/sarl/CylinderRot2D-hard-v0/SAC/1/multirun.yaml b/training/sarl/CylinderRot2D-hard-v0/SAC/1/multirun.yaml new file mode 100644 index 0000000000000000000000000000000000000000..07e39aa0db4255a23fc2bd69b4752109b2c4aca6 --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/SAC/1/multirun.yaml @@ -0,0 +1,220 @@ +hydra: + run: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + sweep: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_sac + - env_id=CylinderRot2D-hard-v0 + - rl_mode=sarl + - seed=1 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_sac,env_id=CylinderRot2D-hard-v0,rl_mode=sarl,seed=1 + id: ??? + num: ??? + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: ??? + choices: + cluster: local + algorithm: sb3_sac + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false +env_id: CylinderRot2D-hard-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 1 +rl_mode: sarl +total_timesteps: 50000.0 +n_eval_steps: 10 +eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}} +n_eval_episodes: 1 +continue_training: false +checkpoint_latest: true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: SAC + obj: + _target_: stable_baselines3.sac.sac.SAC + policy: MlpPolicy + learning_rate: 0.0003 + buffer_size: 1000000 + learning_starts: 100 + batch_size: 256 + tau: 0.005 + gamma: 0.99 + train_freq: 1 + gradient_steps: -1 + action_noise: null + replay_buffer_class: null + replay_buffer_kwargs: null + optimize_memory_usage: false + ent_coef: auto + target_update_interval: 1 + target_entropy: auto + use_sde: false + sde_sample_freq: -1 + use_sde_at_warmup: false + stats_window_size: 100 + tensorboard_log: null + policy_kwargs: {} + verbose: 0 + seed: ${seed} + device: cuda + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-hard-v0/SAC/1/overrides.yaml b/training/sarl/CylinderRot2D-hard-v0/SAC/1/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..61f975f3ffcd4d6f4c0fcff8d6393fb079a41b66 --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/SAC/1/overrides.yaml @@ -0,0 +1,4 @@ +- algorithm=sb3_sac +- env_id=CylinderRot2D-hard-v0 +- rl_mode=sarl +- seed=1 diff --git a/training/sarl/CylinderRot2D-hard-v0/SAC/1/test/test_eval_episode_0.csv b/training/sarl/CylinderRot2D-hard-v0/SAC/1/test/test_eval_episode_0.csv new file mode 100644 index 0000000000000000000000000000000000000000..af83403c381a194501a54a52e294703fa5bb795a --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/SAC/1/test/test_eval_episode_0.csv @@ -0,0 +1,81 @@ +drag,lift,action_0,reward +3.986976,-3.1155858,-0.9908984,-3.4831740856170654 +3.4999654,-2.2592702,-0.98117405,-2.139847993850708 +2.9080703,-1.1493908,0.52846766,-0.4380735158920288 +2.6605158,-0.15115787,0.64215827,0.8077139854431152 +3.1660538,0.41388813,0.32338786,0.039445728063583374 +3.2846384,0.58586913,0.4943161,-0.2511199116706848 +2.9898398,0.23856395,-0.91323054,0.3909838795661926 +3.005911,-0.6216862,-0.96388876,-0.008209705352783203 +3.1554558,-1.6687781,-0.985573,-1.2048462629318237 +3.1356757,-2.6812346,-0.9798825,-2.1975226402282715 +2.9162335,-3.1296756,-0.9447597,-2.4265215396881104 +2.7148566,-3.023477,-0.88051295,-2.118946075439453 +2.6254997,-2.7308135,-0.6184874,-1.7369256019592285 +2.5494623,-2.3595793,0.15588021,-1.289654016494751 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+rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: SAC + obj: + _target_: stable_baselines3.sac.sac.SAC + policy: MlpPolicy + learning_rate: 0.0003 + buffer_size: 1000000 + learning_starts: 100 + batch_size: 256 + tau: 0.005 + gamma: 0.99 + train_freq: 1 + gradient_steps: -1 + action_noise: null + replay_buffer_class: null + replay_buffer_kwargs: null + optimize_memory_usage: false + ent_coef: auto + target_update_interval: 1 + target_entropy: auto + use_sde: false + sde_sample_freq: -1 + use_sde_at_warmup: false + stats_window_size: 100 + tensorboard_log: null + policy_kwargs: {} + verbose: 0 + seed: ${seed} + device: cuda + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-hard-v0/SAC/2/eval_sequence_10000.csv b/training/sarl/CylinderRot2D-hard-v0/SAC/2/eval_sequence_10000.csv new file mode 100644 index 0000000000000000000000000000000000000000..f552bec19d9c145b84d2feaad2a52d383acd8f91 --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/SAC/2/eval_sequence_10000.csv @@ -0,0 +1,81 @@ +drag,lift,action_0,reward +3.836101,3.1837633,-0.47921813,-3.4004766941070557 +4.0443954,3.235332,0.97703695,-3.660339832305908 +3.7944305,2.5644464,0.9802841,-2.7394893169403076 +3.140224,1.6640584,0.9613,-1.1848948001861572 +2.2862308,1.0047189,0.2755406,0.3284379243850708 +2.4692225,0.3499973,-0.81705534,0.8001677989959717 +3.432175,0.016349433,-0.92569923,0.17086327075958252 +3.448191,0.15961477,-0.9490662,0.01158192753791809 +3.1820052,0.3871504,-0.7331461,0.05023205280303955 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+2.169359,0.095860824,0.008312583,1.3541678190231323 +2.1690264,0.080306135,0.007878184,1.370055079460144 diff --git a/training/sarl/CylinderRot2D-hard-v0/SAC/2/hydra.yaml b/training/sarl/CylinderRot2D-hard-v0/SAC/2/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9fc973c8ac74fe2870ce28e722f7cafb8bbb1322 --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/SAC/2/hydra.yaml @@ -0,0 +1,160 @@ +hydra: + run: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + sweep: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_sac + - env_id=CylinderRot2D-hard-v0 + - rl_mode=sarl + - seed=2 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_sac,env_id=CylinderRot2D-hard-v0,rl_mode=sarl,seed=2 + id: '0' + num: 0 + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/training/sarl/CylinderRot2D-hard-v0/SAC/2 + choices: + cluster: local + algorithm: sb3_sac + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/training/sarl/CylinderRot2D-hard-v0/SAC/2/multirun.yaml b/training/sarl/CylinderRot2D-hard-v0/SAC/2/multirun.yaml new file mode 100644 index 0000000000000000000000000000000000000000..217aa656e4522b5f6b96e5b21d0be32ded4d293e --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/SAC/2/multirun.yaml @@ -0,0 +1,220 @@ +hydra: + run: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + sweep: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_sac + - env_id=CylinderRot2D-hard-v0 + - rl_mode=sarl + - seed=2 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_sac,env_id=CylinderRot2D-hard-v0,rl_mode=sarl,seed=2 + id: ??? + num: ??? + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: ??? + choices: + cluster: local + algorithm: sb3_sac + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false +env_id: CylinderRot2D-hard-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 2 +rl_mode: sarl +total_timesteps: 50000.0 +n_eval_steps: 10 +eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}} +n_eval_episodes: 1 +continue_training: false +checkpoint_latest: true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: SAC + obj: + _target_: stable_baselines3.sac.sac.SAC + policy: MlpPolicy + learning_rate: 0.0003 + buffer_size: 1000000 + learning_starts: 100 + batch_size: 256 + tau: 0.005 + gamma: 0.99 + train_freq: 1 + gradient_steps: -1 + action_noise: null + replay_buffer_class: null + replay_buffer_kwargs: null + optimize_memory_usage: false + ent_coef: auto + target_update_interval: 1 + target_entropy: auto + use_sde: false + sde_sample_freq: -1 + use_sde_at_warmup: false + stats_window_size: 100 + tensorboard_log: null + policy_kwargs: {} + verbose: 0 + seed: ${seed} + device: cuda + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-hard-v0/SAC/2/overrides.yaml b/training/sarl/CylinderRot2D-hard-v0/SAC/2/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8f7de5b26b00422c0b88f2b73c2f670d55428c93 --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/SAC/2/overrides.yaml @@ -0,0 +1,4 @@ +- algorithm=sb3_sac +- env_id=CylinderRot2D-hard-v0 +- rl_mode=sarl +- seed=2 diff --git a/training/sarl/CylinderRot2D-hard-v0/SAC/2/test/test_eval_episode_0.csv b/training/sarl/CylinderRot2D-hard-v0/SAC/2/test/test_eval_episode_0.csv new file mode 100644 index 0000000000000000000000000000000000000000..4171257ad38081d2510e297db53f3b9546d18ef0 --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/SAC/2/test/test_eval_episode_0.csv @@ -0,0 +1,81 @@ +drag,lift,action_0,reward +3.9866362,-3.115987,-0.9980681,-3.4832355976104736 +3.4974616,-2.2603848,-0.98733747,-2.138458728790283 +2.9051383,-1.154605,0.5206175,-0.44035565853118896 +2.4616423,-0.23193593,-0.6136415,0.9258094429969788 +3.1842754,0.40325996,0.8859663,0.031852275133132935 +3.345653,0.46490377,0.8603213,-0.19116920232772827 +3.250908,-0.16278549,-0.33563846,0.20569424331188202 +3.2596123,-0.99836105,-0.23689753,-0.6385857462882996 +3.2718,-1.5778476,-0.74521524,-1.2302600145339966 +3.082486,-2.0160627,-0.9913557,-1.479161024093628 +2.9583871,-1.9771633,-0.97910744,-1.3161628246307373 +2.9430172,-1.3340783,-0.13553274,-0.657707929611206 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+seed: 3 +rl_mode: sarl +total_timesteps: 50000.0 +n_eval_steps: 10 +eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}} +n_eval_episodes: 1 +continue_training: false +checkpoint_latest: true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: SAC + obj: + _target_: stable_baselines3.sac.sac.SAC + policy: MlpPolicy + learning_rate: 0.0003 + buffer_size: 1000000 + learning_starts: 100 + batch_size: 256 + tau: 0.005 + gamma: 0.99 + train_freq: 1 + gradient_steps: -1 + action_noise: null + replay_buffer_class: null + replay_buffer_kwargs: null + optimize_memory_usage: false + ent_coef: auto + target_update_interval: 1 + target_entropy: auto + use_sde: false + sde_sample_freq: -1 + use_sde_at_warmup: false + stats_window_size: 100 + tensorboard_log: null + policy_kwargs: {} + verbose: 0 + seed: ${seed} + device: cuda + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-hard-v0/SAC/3/eval_sequence_10000.csv b/training/sarl/CylinderRot2D-hard-v0/SAC/3/eval_sequence_10000.csv new file mode 100644 index 0000000000000000000000000000000000000000..89d16e0b0d33367ca61e38ef15dfd1f02c3c67d3 --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/SAC/3/eval_sequence_10000.csv @@ -0,0 +1,81 @@ +drag,lift,action_0,reward +3.7868016,3.2265697,0.5514747,-3.3939836025238037 +3.8896618,3.3264966,0.9377489,-3.596770763397217 +3.4697669,2.9110012,0.94399536,-2.761380434036255 +2.7424834,2.3414617,0.8421514,-1.464557409286499 +2.7674508,1.5188541,-0.107441664,-0.6669173240661621 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+ header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_sac + - env_id=CylinderRot2D-hard-v0 + - rl_mode=sarl + - seed=3 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_sac,env_id=CylinderRot2D-hard-v0,rl_mode=sarl,seed=3 + id: '0' + num: 0 + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/training/sarl/CylinderRot2D-hard-v0/SAC/3 + choices: + cluster: local + algorithm: sb3_sac + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/training/sarl/CylinderRot2D-hard-v0/SAC/3/multirun.yaml b/training/sarl/CylinderRot2D-hard-v0/SAC/3/multirun.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a4fbac5cb9b819a2d6c900a578d2b8057109935b --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/SAC/3/multirun.yaml @@ -0,0 +1,220 @@ +hydra: + run: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + sweep: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_sac + - env_id=CylinderRot2D-hard-v0 + - rl_mode=sarl + - seed=3 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_sac,env_id=CylinderRot2D-hard-v0,rl_mode=sarl,seed=3 + id: ??? + num: ??? + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: ??? + choices: + cluster: local + algorithm: sb3_sac + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false +env_id: CylinderRot2D-hard-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 3 +rl_mode: sarl +total_timesteps: 50000.0 +n_eval_steps: 10 +eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}} +n_eval_episodes: 1 +continue_training: false +checkpoint_latest: true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: SAC + obj: + _target_: stable_baselines3.sac.sac.SAC + policy: MlpPolicy + learning_rate: 0.0003 + buffer_size: 1000000 + learning_starts: 100 + batch_size: 256 + tau: 0.005 + gamma: 0.99 + train_freq: 1 + gradient_steps: -1 + action_noise: null + replay_buffer_class: null + replay_buffer_kwargs: null + optimize_memory_usage: false + ent_coef: auto + target_update_interval: 1 + target_entropy: auto + use_sde: false + sde_sample_freq: -1 + use_sde_at_warmup: false + stats_window_size: 100 + tensorboard_log: null + policy_kwargs: {} + verbose: 0 + seed: ${seed} + device: cuda + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-hard-v0/SAC/3/overrides.yaml b/training/sarl/CylinderRot2D-hard-v0/SAC/3/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..86a8ac3a066db4ae9b5eefc5201c1779bf3faaa5 --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/SAC/3/overrides.yaml @@ -0,0 +1,4 @@ +- algorithm=sb3_sac +- env_id=CylinderRot2D-hard-v0 +- rl_mode=sarl +- seed=3 diff --git a/training/sarl/CylinderRot2D-hard-v0/SAC/3/test/test_eval_episode_0.csv b/training/sarl/CylinderRot2D-hard-v0/SAC/3/test/test_eval_episode_0.csv new file mode 100644 index 0000000000000000000000000000000000000000..02823b78ac44f58b6293b463fa29bc2848fd56a6 --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/SAC/3/test/test_eval_episode_0.csv @@ -0,0 +1,81 @@ +drag,lift,action_0,reward +3.9870965,-3.1154392,-0.9882639,-3.4831480979919434 +3.500903,-2.2590542,-0.9826838,-2.1405694484710693 +2.9088097,-1.2061058,-0.59520924,-0.49552786350250244 +2.9258122,-0.17672709,0.9269382,0.5168483257293701 +3.1857104,0.23805532,0.978125,0.19562187790870667 +3.451541,0.15571576,0.95478225,0.012130916118621826 +3.1280353,-0.18438011,-0.9879325,0.3069722056388855 +2.922028,-0.4244564,-0.9246682,0.272903174161911 +2.8767161,-0.6201651,-0.95520216,0.12250638008117676 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0000000000000000000000000000000000000000..fa189c67dd2a983f22fa63bd837b32b96371f994 --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/SAC/4/config.yaml @@ -0,0 +1,60 @@ +env_id: CylinderRot2D-hard-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 4 +rl_mode: sarl +total_timesteps: 50000.0 +n_eval_steps: 10 +eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}} +n_eval_episodes: 1 +continue_training: false +checkpoint_latest: true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: SAC + obj: + _target_: stable_baselines3.sac.sac.SAC + policy: MlpPolicy + learning_rate: 0.0003 + buffer_size: 1000000 + learning_starts: 100 + batch_size: 256 + tau: 0.005 + gamma: 0.99 + train_freq: 1 + gradient_steps: -1 + action_noise: null + replay_buffer_class: null + replay_buffer_kwargs: null + optimize_memory_usage: false + ent_coef: auto + target_update_interval: 1 + target_entropy: auto + use_sde: false + sde_sample_freq: -1 + use_sde_at_warmup: false + stats_window_size: 100 + tensorboard_log: null + policy_kwargs: {} + verbose: 0 + seed: ${seed} + device: cuda + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-hard-v0/SAC/4/eval_sequence_10000.csv b/training/sarl/CylinderRot2D-hard-v0/SAC/4/eval_sequence_10000.csv new file mode 100644 index 0000000000000000000000000000000000000000..f1be1dabad4c6308a76db6b0d518be1d0b0a5d0a --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/SAC/4/eval_sequence_10000.csv @@ -0,0 +1,81 @@ +drag,lift,action_0,reward +3.7951446,3.2537136,0.94060695,-3.4294705390930176 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header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_sac + - env_id=CylinderRot2D-hard-v0 + - rl_mode=sarl + - seed=4 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_sac,env_id=CylinderRot2D-hard-v0,rl_mode=sarl,seed=4 + id: '0' + num: 0 + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: /cephfs/users/becktepe/git_projects/FluidGym/output/training/sarl/CylinderRot2D-hard-v0/SAC/4 + choices: + cluster: local + algorithm: sb3_sac + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false diff --git a/training/sarl/CylinderRot2D-hard-v0/SAC/4/multirun.yaml b/training/sarl/CylinderRot2D-hard-v0/SAC/4/multirun.yaml new file mode 100644 index 0000000000000000000000000000000000000000..efb47ae3a603c0de1c77e147b4ca3668eb40f1c0 --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/SAC/4/multirun.yaml @@ -0,0 +1,220 @@ +hydra: + run: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + sweep: + dir: output/training/${rl_mode}/${env_id}/${algorithm.name}/${seed} + subdir: '' + launcher: + _target_: hydra._internal.core_plugins.basic_launcher.BasicLauncher + sweeper: + _target_: hydra._internal.core_plugins.basic_sweeper.BasicSweeper + max_batch_size: null + params: null + help: + app_name: ${hydra.job.name} + header: '${hydra.help.app_name} is powered by Hydra. + + ' + footer: 'Powered by Hydra (https://hydra.cc) + + Use --hydra-help to view Hydra specific help + + ' + template: '${hydra.help.header} + + == Configuration groups == + + Compose your configuration from those groups (group=option) + + + $APP_CONFIG_GROUPS + + + == Config == + + Override anything in the config (foo.bar=value) + + + $CONFIG + + + ${hydra.help.footer} + + ' + hydra_help: + template: 'Hydra (${hydra.runtime.version}) + + See https://hydra.cc for more info. + + + == Flags == + + $FLAGS_HELP + + + == Configuration groups == + + Compose your configuration from those groups (For example, append hydra/job_logging=disabled + to command line) + + + $HYDRA_CONFIG_GROUPS + + + Use ''--cfg hydra'' to Show the Hydra config. + + ' + hydra_help: ??? + hydra_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][HYDRA] %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + root: + level: INFO + handlers: + - console + loggers: + logging_example: + level: DEBUG + disable_existing_loggers: false + job_logging: + version: 1 + formatters: + simple: + format: '[%(asctime)s][%(name)s][%(levelname)s] - %(message)s' + handlers: + console: + class: logging.StreamHandler + formatter: simple + stream: ext://sys.stdout + file: + class: logging.FileHandler + formatter: simple + filename: ${hydra.runtime.output_dir}/${hydra.job.name}.log + root: + level: INFO + handlers: + - console + - file + disable_existing_loggers: false + env: {} + mode: MULTIRUN + searchpath: [] + callbacks: {} + output_subdir: . + overrides: + hydra: + - hydra.mode=MULTIRUN + task: + - algorithm=sb3_sac + - env_id=CylinderRot2D-hard-v0 + - rl_mode=sarl + - seed=4 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_sac,env_id=CylinderRot2D-hard-v0,rl_mode=sarl,seed=4 + id: ??? + num: ??? + config_name: test_sb3 + env_set: {} + env_copy: [] + config: + override_dirname: + kv_sep: '=' + item_sep: ',' + exclude_keys: [] + runtime: + version: 1.3.2 + version_base: '1.3' + cwd: /cephfs/users/becktepe/git_projects/FluidGym + config_sources: + - path: hydra.conf + schema: pkg + provider: hydra + - path: /cephfs/users/becktepe/git_projects/FluidGym/runscripts/configs + schema: file + provider: main + - path: '' + schema: structured + provider: schema + output_dir: ??? + choices: + cluster: local + algorithm: sb3_sac + hydra/env: default + hydra/callbacks: null + hydra/job_logging: default + hydra/hydra_logging: default + hydra/hydra_help: default + hydra/help: default + hydra/sweeper: basic + hydra/launcher: basic + hydra/output: default + verbose: false +env_id: CylinderRot2D-hard-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 4 +rl_mode: sarl +total_timesteps: 50000.0 +n_eval_steps: 10 +eval_freq: ${eval:${total_timesteps} // ${n_eval_steps}} +n_eval_episodes: 1 +continue_training: false +checkpoint_latest: true +rl_device: cpu +eval_callback: + _target_: fluidgym.integration.sb3.EvalCallback + eval_freq: ${eval_freq} + n_eval_episodes: ${n_eval_episodes} + use_wandb: ${wandb.enable} + checkpoint_latest: ${checkpoint_latest} +wandb: + enable: true + entity: safe-autonomous-systems + project: jbecktepe-fluidgym +algorithm: + name: SAC + obj: + _target_: stable_baselines3.sac.sac.SAC + policy: MlpPolicy + learning_rate: 0.0003 + buffer_size: 1000000 + learning_starts: 100 + batch_size: 256 + tau: 0.005 + gamma: 0.99 + train_freq: 1 + gradient_steps: -1 + action_noise: null + replay_buffer_class: null + replay_buffer_kwargs: null + optimize_memory_usage: false + ent_coef: auto + target_update_interval: 1 + target_entropy: auto + use_sde: false + sde_sample_freq: -1 + use_sde_at_warmup: false + stats_window_size: 100 + tensorboard_log: null + policy_kwargs: {} + verbose: 0 + seed: ${seed} + device: cuda + _init_setup_model: true +cluster: {} +test_env_id: ${env_id} +test_env_kwargs: ${env_kwargs} +test_rl_mode: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/training/sarl/CylinderRot2D-hard-v0/SAC/4/overrides.yaml b/training/sarl/CylinderRot2D-hard-v0/SAC/4/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a6a71ec6926a423859c46d6ec14c5299e357f9fe --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/SAC/4/overrides.yaml @@ -0,0 +1,4 @@ +- algorithm=sb3_sac +- env_id=CylinderRot2D-hard-v0 +- rl_mode=sarl +- seed=4 diff --git a/training/sarl/CylinderRot2D-hard-v0/SAC/4/test/test_eval_episode_0.csv b/training/sarl/CylinderRot2D-hard-v0/SAC/4/test/test_eval_episode_0.csv new file mode 100644 index 0000000000000000000000000000000000000000..24c92cc44e793d9c68565140a262d09d959105bf --- /dev/null +++ b/training/sarl/CylinderRot2D-hard-v0/SAC/4/test/test_eval_episode_0.csv @@ -0,0 +1,81 @@ +drag,lift,action_0,reward +3.987049,-3.1154974,-0.9893052,-3.483158826828003 +3.5030675,-2.255024,-0.91237545,-2.1387038230895996 +2.9142025,-1.1405369,0.47566295,-0.43535172939300537 +2.6696508,-0.11696676,0.71203756,0.832770049571991 +3.1247811,0.5020382,0.9523829,-0.007431685924530029 +3.3146684,0.76839614,0.9346435,-0.46367692947387695 +3.078216,0.6417085,0.2833537,-0.10053694248199463 +3.1207476,0.1881127,-0.3697517,0.31052735447883606 +3.2276342,-0.25581282,-0.08448887,0.13594061136245728 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