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${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: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/0/hydra.yaml b/0/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f9bad057ca72baaddb52c6c8d8d5cd1a2d7705f7 --- /dev/null +++ b/0/hydra.yaml @@ -0,0 +1,163 @@ +hydra: + run: + dir: output/training/${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=RBC3D-hard-v0 + - rl_mode=marl + - seed=0 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_ppo,env_id=RBC3D-hard-v0,rl_mode=marl,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/marl/RBC3D-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/0/multirun.yaml b/0/multirun.yaml new file mode 100644 index 0000000000000000000000000000000000000000..129d36b16d3b2fc6a29ddbfd792ca244cedb85f1 --- /dev/null +++ b/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=RBC3D-hard-v0 + - rl_mode=marl + - seed=0 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_ppo,env_id=RBC3D-hard-v0,rl_mode=marl,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: RBC3D-hard-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 0 +rl_mode: marl +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/0/overrides.yaml b/0/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0c003c7362b4f9c76c42ac26fbea8ea21b20663e --- /dev/null +++ b/0/overrides.yaml @@ -0,0 +1,4 @@ +- algorithm=sb3_ppo +- env_id=RBC3D-hard-v0 +- rl_mode=marl +- seed=0 diff --git a/0/test/3d_temperature_test_eval_episode_0.gif b/0/test/3d_temperature_test_eval_episode_0.gif new file mode 100644 index 0000000000000000000000000000000000000000..34b89f0eb3db795e8943bda9e4700f9bfcbaff33 --- /dev/null +++ b/0/test/3d_temperature_test_eval_episode_0.gif @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b7974d556525b7f62df1ddf8f9219402c32785a29abf68cf9f46d94893afc4d +size 18355328 diff --git a/0/test/test_eval_episode_0.csv b/0/test/test_eval_episode_0.csv new file mode 100644 index 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0000000000000000000000000000000000000000..6d2c12c9b50ee67433937130ad9914f2947217af --- /dev/null +++ b/1/ckpt_latest.zip @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:966d9253a8b5475e5d100f965dff496da6ca2e9620824b960265c398ea8789d7 +size 8844018 diff --git a/1/config.yaml b/1/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..09150d85c60f5961698723586d313680c665be4f --- /dev/null +++ b/1/config.yaml @@ -0,0 +1,58 @@ +env_id: RBC3D-hard-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 1 +rl_mode: marl +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: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/1/hydra.yaml b/1/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0a32b6c2c5ea155aed23a2b075c8896f20da9765 --- /dev/null +++ b/1/hydra.yaml @@ -0,0 +1,163 @@ +hydra: + run: + dir: output/training/${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=RBC3D-hard-v0 + - rl_mode=marl + - seed=1 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_ppo,env_id=RBC3D-hard-v0,rl_mode=marl,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/marl/RBC3D-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/1/multirun.yaml b/1/multirun.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1ff63425a79e80c800d9767548715ff966ada1b0 --- /dev/null +++ b/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=RBC3D-hard-v0 + - rl_mode=marl + - seed=1 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_ppo,env_id=RBC3D-hard-v0,rl_mode=marl,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: RBC3D-hard-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 1 +rl_mode: marl +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/1/overrides.yaml b/1/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..56bbff545fb310ea61788b317c5e65f6d408700a --- /dev/null +++ b/1/overrides.yaml @@ -0,0 +1,4 @@ +- algorithm=sb3_ppo +- env_id=RBC3D-hard-v0 +- rl_mode=marl +- seed=1 diff --git a/1/test/3d_temperature_test_eval_episode_0.gif b/1/test/3d_temperature_test_eval_episode_0.gif new file mode 100644 index 0000000000000000000000000000000000000000..1e7b9f43267051fdcaedc4df971a2730024d7036 --- /dev/null +++ b/1/test/3d_temperature_test_eval_episode_0.gif @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e12a9b2047c95fc56a93e848cc67249c6fffc2dfd61dad174d4422bd957fa4f +size 18782982 diff --git a/1/test/test_eval_episode_0.csv b/1/test/test_eval_episode_0.csv new file mode 100644 index 0000000000000000000000000000000000000000..0b1fa676e6e85ae2e724d2d4628aa047d41f2f0f --- /dev/null +++ b/1/test/test_eval_episode_0.csv @@ -0,0 +1,201 @@ 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0000000000000000000000000000000000000000..dd43b92ca55309b223ab2205dd44ef45810ca1c3 --- /dev/null +++ b/2/ckpt_latest.zip @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f0ebbb2f4e0c915a29398c45b2f1caaa29efa7b3a4beb9954108b3c7c392d7b4 +size 8844014 diff --git a/2/config.yaml b/2/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1b1e7077cd3e92b1e63acba8960ad574002c2e92 --- /dev/null +++ b/2/config.yaml @@ -0,0 +1,58 @@ +env_id: RBC3D-hard-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 2 +rl_mode: marl +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: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/2/hydra.yaml b/2/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1640efc0d2c7b920a951cb19a7a8fc0b557908d1 --- /dev/null +++ b/2/hydra.yaml @@ -0,0 +1,163 @@ +hydra: + run: + dir: output/training/${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=RBC3D-hard-v0 + - rl_mode=marl + - seed=2 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_ppo,env_id=RBC3D-hard-v0,rl_mode=marl,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: 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/marl/RBC3D-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/2/multirun.yaml b/2/multirun.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b9c784616e5e5d381b80a875b369510fbad3bdab --- /dev/null +++ b/2/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=RBC3D-hard-v0 + - rl_mode=marl + - seed=2 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_ppo,env_id=RBC3D-hard-v0,rl_mode=marl,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: 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: RBC3D-hard-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 2 +rl_mode: marl +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/2/overrides.yaml b/2/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7caf0b5810e0d8dfeab85600620c1de8c39b3dc7 --- /dev/null +++ b/2/overrides.yaml @@ -0,0 +1,4 @@ +- algorithm=sb3_ppo +- env_id=RBC3D-hard-v0 +- rl_mode=marl +- seed=2 diff --git a/2/test/3d_temperature_test_eval_episode_0.gif b/2/test/3d_temperature_test_eval_episode_0.gif new file mode 100644 index 0000000000000000000000000000000000000000..00a0a74a20770aee5581685b97038a70e3c49545 --- /dev/null +++ b/2/test/3d_temperature_test_eval_episode_0.gif @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1976b2db2c68d3c8349c00a7d57ac6061c82e4b911a15480d4df42069b83c59c +size 18804035 diff --git a/2/test/test_eval_episode_0.csv b/2/test/test_eval_episode_0.csv new file mode 100644 index 0000000000000000000000000000000000000000..074ae9b74dc75a71d4c19d175d202e06a12e74a4 --- /dev/null +++ b/2/test/test_eval_episode_0.csv @@ -0,0 +1,201 @@ 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0000000000000000000000000000000000000000..56b95e8f349e170cb22df97ea6c2fc2f7bed9b69 --- /dev/null +++ b/3/ckpt_latest.zip @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba31f535f25e87be3e24acab7df712348775e7431eb66e3dac11cede12171ec2 +size 8844016 diff --git a/3/config.yaml b/3/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e72257cf790d3f7c2bc448a408a0d51e21285855 --- /dev/null +++ b/3/config.yaml @@ -0,0 +1,58 @@ +env_id: RBC3D-hard-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 3 +rl_mode: marl +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: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/3/hydra.yaml b/3/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e4f566a0dea05edd9781849a70a94dd2dad38e57 --- /dev/null +++ b/3/hydra.yaml @@ -0,0 +1,163 @@ +hydra: + run: + dir: output/training/${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=RBC3D-hard-v0 + - rl_mode=marl + - seed=3 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_ppo,env_id=RBC3D-hard-v0,rl_mode=marl,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: 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/marl/RBC3D-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/3/multirun.yaml b/3/multirun.yaml new file mode 100644 index 0000000000000000000000000000000000000000..be924e98135a0c69fb34ae41244e23b745376e2d --- /dev/null +++ b/3/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=RBC3D-hard-v0 + - rl_mode=marl + - seed=3 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_ppo,env_id=RBC3D-hard-v0,rl_mode=marl,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: 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: RBC3D-hard-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 3 +rl_mode: marl +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/3/overrides.yaml b/3/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3b17bb52aa016d33596b1bcd8e18f7511302dcb9 --- /dev/null +++ b/3/overrides.yaml @@ -0,0 +1,4 @@ +- algorithm=sb3_ppo +- env_id=RBC3D-hard-v0 +- rl_mode=marl +- seed=3 diff --git a/3/test/3d_temperature_test_eval_episode_0.gif b/3/test/3d_temperature_test_eval_episode_0.gif new file mode 100644 index 0000000000000000000000000000000000000000..ebf23ac379b3ab689654fdb0dac41cabf8ea89c8 --- /dev/null +++ b/3/test/3d_temperature_test_eval_episode_0.gif @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:061e9d38a4b3ea9b95bfac896e51e736f9bc1f84e12b57238308876b0f1fb783 +size 17565882 diff --git a/3/test/test_eval_episode_0.csv b/3/test/test_eval_episode_0.csv new file mode 100644 index 0000000000000000000000000000000000000000..2d15671efe4c25c6c42f521602993862456fb7ac --- /dev/null +++ b/3/test/test_eval_episode_0.csv @@ -0,0 +1,201 @@ 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0000000000000000000000000000000000000000..734b0f6246948e8caf9dcf66ba2562e8d3641f4d --- /dev/null +++ b/4/ckpt_latest.zip @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:43add9802b19a3a387c872bd4f66605ca1189177175dfe7d7adffb15b7bc9a7f +size 8844012 diff --git a/4/config.yaml b/4/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5df40940c497bd95266b402fa2e0e642f949840a --- /dev/null +++ b/4/config.yaml @@ -0,0 +1,58 @@ +env_id: RBC3D-hard-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 4 +rl_mode: marl +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: ${rl_mode} +n_test_episodes: 10 +deterministic: true +save_frames: true +render_3d: true diff --git a/4/hydra.yaml b/4/hydra.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ede8932767913efad25a7252043f66142003381e --- /dev/null +++ b/4/hydra.yaml @@ -0,0 +1,163 @@ +hydra: + run: + dir: output/training/${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=RBC3D-hard-v0 + - rl_mode=marl + - seed=4 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_ppo,env_id=RBC3D-hard-v0,rl_mode=marl,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/marl/RBC3D-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/4/multirun.yaml b/4/multirun.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cb54c676b1db32c4f7d47006cb57d73a987e93b2 --- /dev/null +++ b/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=RBC3D-hard-v0 + - rl_mode=marl + - seed=4 + job: + name: test_sb3 + chdir: true + override_dirname: algorithm=sb3_ppo,env_id=RBC3D-hard-v0,rl_mode=marl,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: RBC3D-hard-v0 +env_kwargs: {} +eval_env_kwargs: {} +seed: 4 +rl_mode: marl +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/4/overrides.yaml b/4/overrides.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d27f497cf58b2aed75a5fe087f8982ae12c4805d --- /dev/null +++ b/4/overrides.yaml @@ -0,0 +1,4 @@ +- algorithm=sb3_ppo +- env_id=RBC3D-hard-v0 +- rl_mode=marl +- seed=4 diff --git a/4/test/3d_temperature_test_eval_episode_0.gif b/4/test/3d_temperature_test_eval_episode_0.gif new file mode 100644 index 0000000000000000000000000000000000000000..14a6959c253462e401de0933123c8062a8f7e0a7 --- /dev/null +++ b/4/test/3d_temperature_test_eval_episode_0.gif @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:57e88a6c27c1aca9f8c8c811e5fccf291666e501eb889048806281ee9f60b99a +size 17407674 diff --git a/4/test/test_eval_episode_0.csv b/4/test/test_eval_episode_0.csv new file mode 100644 index 0000000000000000000000000000000000000000..e2a642316ad746b8b969b8495a4e384eb0698668 --- /dev/null +++ b/4/test/test_eval_episode_0.csv @@ -0,0 +1,201 @@ 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0000000000000000000000000000000000000000..2e87a049cced2f59cf95a12c43092407f27486ce --- /dev/null +++ b/README.md @@ -0,0 +1,54 @@ +--- +library_name: stable-baselines3 +tags: +- reinforcement-learning +- stable-baselines3 +- deep-reinforcement-learning +- fluidgym +- active-flow-control +- fluid-dynamics +- simulation +- RBC3D-hard-v0 +model-index: +- name: PPO-RBC3D-hard-v0 + results: + - task: + type: reinforcement-learning + name: reinforcement-learning + dataset: + name: FluidGym-RBC3D-hard-v0 + type: fluidgym + metrics: + - type: mean_reward + value: 0.34 + name: mean_reward + + +--- + +# PPO on RBC3D-hard-v0 (FluidGym) + +This repository is part of the **FluidGym** benchmark results. It contains trained Stable Baselines3 agents for the specialized **RBC3D-hard-v0** environment. + +## Evaluation Results + +### Global Performance (Aggregated across 5 seeds) +**Mean Reward:** 0.34 ± 0.01 + +### Per-Seed Statistics +| Run | Mean Reward | Std Dev | +| --- | --- | --- | +| Seed 0 | 0.35 | 0.05 | +| Seed 1 | 0.35 | 0.05 | +| Seed 2 | 0.35 | 0.07 | +| Seed 3 | 0.35 | 0.06 | +| Seed 4 | 0.31 | 0.03 | + +## About FluidGym +FluidGym is a benchmark for reinforcement learning in active flow control. + +## Usage +Each seed is contained in its own subdirectory. You can load a model using: +```python +from stable_baselines3 import PPO +model = PPO.load("0/ckpt_latest.zip")