From a1428ad3d661e31985c5c19460cec70bc95aef6e Mon Sep 17 00:00:00 2001 From: jarek Date: Mon, 2 Sep 2024 18:52:02 +0200 Subject: [PATCH 1/7] dispatchable publish --- .github/workflows/python-publish.yml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/python-publish.yml b/.github/workflows/python-publish.yml index 47c045d..a15a8c3 100644 --- a/.github/workflows/python-publish.yml +++ b/.github/workflows/python-publish.yml @@ -11,6 +11,7 @@ name: Upload Python Package on: release: types: [published] + workflow_dispatch: permissions: contents: read From 23a8cf7fc21e6b9e4cb235669a0f388c7c4645f6 Mon Sep 17 00:00:00 2001 From: jarek Date: Thu, 14 Nov 2024 11:03:53 +0000 Subject: [PATCH 2/7] build with pdm, change package layout --- setup.py | 25 --------------------- {rejax => src/rejax}/__init__.py | 0 {rejax => src/rejax}/algos/__init__.py | 0 {rejax => src/rejax}/algos/algorithm.py | 0 {rejax => src/rejax}/algos/dqn.py | 0 {rejax => src/rejax}/algos/iqn.py | 0 {rejax 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rename {rejax => src/rejax}/algos/iqn.py (100%) rename {rejax => src/rejax}/algos/mixins.py (100%) rename {rejax => src/rejax}/algos/ppo.py (100%) rename {rejax => src/rejax}/algos/pqn.py (100%) rename {rejax => src/rejax}/algos/sac.py (100%) rename {rejax => src/rejax}/algos/td3.py (100%) rename {rejax => src/rejax}/buffers.py (100%) rename {rejax => src/rejax}/compat/__init__.py (100%) rename {rejax => src/rejax}/compat/brax2gymnax.py (100%) rename {rejax => src/rejax}/compat/navix2gymnax.py (100%) rename {rejax => src/rejax}/evaluate.py (100%) rename {rejax => src/rejax}/networks.py (100%) rename {rejax => src/rejax}/normalize.py (100%) rename {test => tests}/__init__.py (100%) rename {test => tests}/environments.py (100%) rename {test => tests}/test_dqn.py (100%) rename {test => tests}/test_iqn.py (100%) rename {test => tests}/test_ppo.py (100%) rename {test => tests}/test_pqn.py (100%) rename {test => tests}/test_sac.py (100%) rename {test => tests}/test_td3.py (100%) diff --git a/setup.py b/setup.py deleted file mode 100644 index 248f5bc..0000000 --- a/setup.py +++ /dev/null @@ -1,25 +0,0 @@ -from setuptools import find_packages, setup - -with open("README.md", "r") as f: - long_description = f.read() - -setup( - name="rejax", - version="0.1.0", - url="https://github.com/keraJLi/rejax", - author="Jarek Liesen", - description="Lightweight library of RL algorithms in Jax", - packages=find_packages(), - long_description=long_description, - long_description_content_type="text/markdown", - install_requires=[ - "flax", - "gymnax", - "distrax", - "optax", - "numpy", - "brax", - "evosax", - "pyyaml", - ], -) diff --git a/rejax/__init__.py b/src/rejax/__init__.py similarity index 100% rename from rejax/__init__.py rename to src/rejax/__init__.py diff --git a/rejax/algos/__init__.py b/src/rejax/algos/__init__.py similarity index 100% rename from rejax/algos/__init__.py rename to src/rejax/algos/__init__.py diff --git a/rejax/algos/algorithm.py b/src/rejax/algos/algorithm.py similarity index 100% rename from rejax/algos/algorithm.py rename to src/rejax/algos/algorithm.py diff --git a/rejax/algos/dqn.py b/src/rejax/algos/dqn.py similarity index 100% rename from rejax/algos/dqn.py rename to src/rejax/algos/dqn.py diff --git a/rejax/algos/iqn.py b/src/rejax/algos/iqn.py similarity index 100% rename from rejax/algos/iqn.py rename to src/rejax/algos/iqn.py diff --git a/rejax/algos/mixins.py b/src/rejax/algos/mixins.py similarity index 100% rename from rejax/algos/mixins.py rename to src/rejax/algos/mixins.py diff --git a/rejax/algos/ppo.py b/src/rejax/algos/ppo.py similarity index 100% rename from rejax/algos/ppo.py rename to src/rejax/algos/ppo.py diff --git a/rejax/algos/pqn.py b/src/rejax/algos/pqn.py similarity index 100% rename from rejax/algos/pqn.py rename to src/rejax/algos/pqn.py diff --git a/rejax/algos/sac.py b/src/rejax/algos/sac.py similarity index 100% rename from rejax/algos/sac.py rename to src/rejax/algos/sac.py diff --git a/rejax/algos/td3.py b/src/rejax/algos/td3.py similarity index 100% rename from rejax/algos/td3.py rename to src/rejax/algos/td3.py diff --git a/rejax/buffers.py b/src/rejax/buffers.py similarity index 100% rename from rejax/buffers.py rename to src/rejax/buffers.py diff --git a/rejax/compat/__init__.py b/src/rejax/compat/__init__.py similarity index 100% rename from rejax/compat/__init__.py rename to src/rejax/compat/__init__.py diff --git a/rejax/compat/brax2gymnax.py b/src/rejax/compat/brax2gymnax.py similarity index 100% rename from rejax/compat/brax2gymnax.py rename to src/rejax/compat/brax2gymnax.py diff --git a/rejax/compat/navix2gymnax.py b/src/rejax/compat/navix2gymnax.py similarity index 100% rename from rejax/compat/navix2gymnax.py rename to src/rejax/compat/navix2gymnax.py diff --git a/rejax/evaluate.py b/src/rejax/evaluate.py similarity index 100% rename from rejax/evaluate.py rename to src/rejax/evaluate.py diff --git a/rejax/networks.py b/src/rejax/networks.py similarity index 100% rename from rejax/networks.py rename to src/rejax/networks.py diff --git a/rejax/normalize.py b/src/rejax/normalize.py similarity index 100% rename from rejax/normalize.py rename to src/rejax/normalize.py diff --git a/test/__init__.py b/tests/__init__.py similarity index 100% rename from test/__init__.py rename to tests/__init__.py diff --git a/test/environments.py b/tests/environments.py similarity index 100% rename from test/environments.py rename to tests/environments.py diff --git a/test/test_dqn.py b/tests/test_dqn.py similarity index 100% rename from test/test_dqn.py rename to tests/test_dqn.py diff --git a/test/test_iqn.py b/tests/test_iqn.py similarity index 100% rename from test/test_iqn.py rename to tests/test_iqn.py diff --git a/test/test_ppo.py b/tests/test_ppo.py similarity index 100% rename from test/test_ppo.py rename to tests/test_ppo.py diff --git a/test/test_pqn.py b/tests/test_pqn.py similarity index 100% rename from test/test_pqn.py rename to tests/test_pqn.py diff --git a/test/test_sac.py b/tests/test_sac.py similarity index 100% rename from test/test_sac.py rename to tests/test_sac.py diff --git a/test/test_td3.py b/tests/test_td3.py similarity index 100% rename from test/test_td3.py rename to tests/test_td3.py From 0914815dc6f6b59b2cb9ab4d89fbd12f34de7bd0 Mon Sep 17 00:00:00 2001 From: jarek Date: Thu, 14 Nov 2024 11:06:39 +0000 Subject: [PATCH 3/7] pdm setup --- .gitignore | 1 + pdm.lock | 2589 ++++++++++++++++++++++++++++++++++++++++++++++++ pyproject.toml | 33 + 3 files changed, 2623 insertions(+) create mode 100644 pdm.lock create mode 100644 pyproject.toml diff --git a/.gitignore b/.gitignore index 6cd10ec..0dd4491 100644 --- a/.gitignore +++ b/.gitignore @@ -108,6 +108,7 @@ ipython_config.py # in version control. # https://pdm.fming.dev/#use-with-ide .pdm.toml +.pdm-python # PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm __pypackages__/ diff --git a/pdm.lock b/pdm.lock new file 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"optax>=0.2.3", + "brax>=0.11.0", + "evosax>=0.1.6", + "distrax>=0.1.5", + "gymnax>=0.0.8", + "jax>=0.4.34", +] +requires-python = ">=3.10" +readme = "README.md" +license = {text = "Apache-2.0"} + +[project.optional-dependencies] +compat = [ + "brax>=0.11.0", + "craftax>=1.4.3", + "navix>=0.7.0", +] +[build-system] +requires = ["pdm-backend"] +build-backend = "pdm.backend" + +[tool.pdm] +distribution = true From 4954fbf6a765ca5fe17b3037fc20a6f217291271 Mon Sep 17 00:00:00 2001 From: jarek Date: Thu, 14 Nov 2024 12:25:22 +0000 Subject: [PATCH 4/7] Updated configs and added test --- configs/brax/ant.yaml | 19 ------------- configs/brax/halfcheetah.yaml | 19 ------------- configs/brax/hopper.yaml | 20 ------------- configs/brax/humanoidstandup.yaml | 20 ------------- configs/brax/pusher.yaml | 21 -------------- configs/brax/reacher.yaml | 21 -------------- configs/brax/swimmer.yaml | 20 ------------- configs/brax/walker2d.yaml | 20 ------------- configs/gymnax/acrobot.yaml | 11 +------- configs/gymnax/cartpole.yaml | 11 +------- configs/gymnax/continuous_mountaincar.yaml | 30 -------------------- configs/gymnax/mountaincar.yaml | 2 +- configs/gymnax/pendulum.yaml | 31 -------------------- configs/navix/distshift2.yaml | 2 +- configs/navix/doorkey_16x16.yaml | 2 +- configs/navix/doorkey_8x8.yaml | 2 +- configs/navix/empty_16x16.yaml | 2 +- configs/navix/empty_6x6.yaml | 2 +- configs/navix/empty_random_8x8.yaml | 2 +- configs/navix/fourrooms.yaml | 2 +- configs/navix/gotodoor_6x6.yaml | 2 +- configs/navix/keycorridors4r4.yaml | 2 +- configs/navix/lavagaps6.yaml | 2 +- configs/navix/simplecrossings9n1.yaml | 2 +- tests/test_configs.py | 33 ++++++++++++++++++++++ 25 files changed, 47 insertions(+), 253 deletions(-) create mode 100644 tests/test_configs.py diff --git a/configs/brax/ant.yaml b/configs/brax/ant.yaml index aba8bcb..49e3804 100644 --- a/configs/brax/ant.yaml +++ b/configs/brax/ant.yaml @@ -36,22 +36,3 @@ ppo: ent_coef: 0.01 vf_coef: 0.5 normalize_observations: true - - -# tuned -ddpg: - env: brax/ant - agent_kwargs: - activation: tanh - num_envs: 128 - buffer_size: 1048576 - fill_buffer: 8192 - batch_size: 512 - learning_rate: 0.00020399223998555615 - num_epochs: 128 - total_timesteps: 5242880 - eval_freq: 32768 - gamma: 0.95 - polyak: 0.99 - max_grad_norm: 0.1 - exploration_noise: 0.5 diff --git a/configs/brax/halfcheetah.yaml b/configs/brax/halfcheetah.yaml index fdf6b52..ae61241 100644 --- a/configs/brax/halfcheetah.yaml +++ b/configs/brax/halfcheetah.yaml @@ -38,25 +38,6 @@ ppo: normalize_observations: true -# tuned -ddpg: - env: brax/halfcheetah - agent_kwargs: - activation: tanh - num_envs: 128 - buffer_size: 1048576 - fill_buffer: 8192 - batch_size: 512 - learning_rate: 0.00020399223998555615 - num_epochs: 128 - total_timesteps: 5242880 - eval_freq: 32768 - gamma: 0.95 - polyak: 0.99 - max_grad_norm: 0.1 - exploration_noise: 0.5 - normalize_observations: true - # tuned td3: env: brax/halfcheetah diff --git a/configs/brax/hopper.yaml b/configs/brax/hopper.yaml index bc6bd4a..84a752a 100644 --- a/configs/brax/hopper.yaml +++ b/configs/brax/hopper.yaml @@ -38,26 +38,6 @@ ppo: normalize_observations: true -# tuned -ddpg: - env: brax/hopper - agent_kwargs: - activation: tanh - num_envs: 128 - buffer_size: 1048576 - fill_buffer: 8192 - batch_size: 512 - learning_rate: 0.00014524424253732564 - num_epochs: 128 - total_timesteps: 5242880 - eval_freq: 32768 - gamma: 0.995 - polyak: 0.98 - max_grad_norm: 1 - exploration_noise: 0.2 - normalize_observations: true - - # tuned td3: env: brax/hopper diff --git a/configs/brax/humanoidstandup.yaml b/configs/brax/humanoidstandup.yaml index e330d81..12707ec 100644 --- a/configs/brax/humanoidstandup.yaml +++ b/configs/brax/humanoidstandup.yaml @@ -38,26 +38,6 @@ ppo: normalize_observations: true -# tuned -ddpg: - env: brax/humanoidstandup - agent_kwargs: - activation: tanh - num_envs: 128 - buffer_size: 1048576 - fill_buffer: 8192 - batch_size: 512 - learning_rate: 0.00020399223998555615 - num_epochs: 128 - total_timesteps: 5242880 - eval_freq: 32768 - gamma: 0.95 - polyak: 0.99 - max_grad_norm: 0.1 - exploration_noise: 0.5 - normalize_observations: true - - # tuned td3: env: brax/humanoidstandup diff --git a/configs/brax/pusher.yaml b/configs/brax/pusher.yaml index b5b5d0a..108868b 100644 --- a/configs/brax/pusher.yaml +++ b/configs/brax/pusher.yaml @@ -40,24 +40,3 @@ ppo: ent_coef: 0.01 vf_coef: 0.5 normalize_observations: true - - -# tuned -ddpg: - env: brax/pusher - env_params: - episode_length: 100 - agent_kwargs: - activation: tanh - num_envs: 128 - buffer_size: 1048576 - fill_buffer: 8192 - batch_size: 512 - learning_rate: 0.00020399223998555615 - num_epochs: 128 - total_timesteps: 1048576 - eval_freq: 32768 - gamma: 0.95 - polyak: 0.99 - max_grad_norm: 0.1 - exploration_noise: 0.5 diff --git a/configs/brax/reacher.yaml b/configs/brax/reacher.yaml index 84c502f..bf26bd1 100644 --- a/configs/brax/reacher.yaml +++ b/configs/brax/reacher.yaml @@ -40,24 +40,3 @@ ppo: ent_coef: 0.01 vf_coef: 0.5 normalize_observations: true - - -# tuned -ddpg: - env: brax/reacher - env_params: - episode_length: 50 - agent_kwargs: - activation: tanh - num_envs: 128 - buffer_size: 1048576 - fill_buffer: 8192 - batch_size: 512 - learning_rate: 0.00045165942467890313 - num_epochs: 128 - total_timesteps: 1048576 - eval_freq: 32768 - gamma: 0.99 - polyak: 0.98 - max_grad_norm: 0.1 - exploration_noise: 0.2 diff --git a/configs/brax/swimmer.yaml b/configs/brax/swimmer.yaml index 7d9574c..90a65a8 100644 --- a/configs/brax/swimmer.yaml +++ b/configs/brax/swimmer.yaml @@ -38,26 +38,6 @@ ppo: normalize_observations: true -# tuned -ddpg: - env: brax/swimmer - agent_kwargs: - activation: tanh - num_envs: 128 - buffer_size: 1048576 - fill_buffer: 8192 - batch_size: 128 - learning_rate: 0.000468696655640884 - num_epochs: 128 - total_timesteps: 5242880 - eval_freq: 32768 - gamma: 0.995 - polyak: 0.995 - max_grad_norm: 0.1 - exploration_noise: 0.9 - normalize_observations: false - - # tuned td3: env: brax/swimmer diff --git a/configs/brax/walker2d.yaml b/configs/brax/walker2d.yaml index b788e30..3b88ede 100644 --- a/configs/brax/walker2d.yaml +++ b/configs/brax/walker2d.yaml @@ -38,26 +38,6 @@ ppo: normalize_observations: true -# tuned -ddpg: - env: brax/walker2d - agent_kwargs: - activation: tanh - num_envs: 128 - buffer_size: 1048576 - fill_buffer: 8192 - batch_size: 512 - learning_rate: 0.00014524424253732564 - num_epochs: 128 - total_timesteps: 5242880 - eval_freq: 32768 - gamma: 0.995 - polyak: 0.98 - max_grad_norm: 1 - exploration_noise: 0.2 - normalize_observations: true - - # tuned td3: env: brax/walker2d diff --git a/configs/gymnax/acrobot.yaml b/configs/gymnax/acrobot.yaml index 6e7986c..70b1404 100644 --- a/configs/gymnax/acrobot.yaml +++ b/configs/gymnax/acrobot.yaml @@ -76,15 +76,6 @@ sac: target_entropy_ratio: 0.1 normalize_observations: false -es: - env: Acrobot-v1 - num_generations: 5 - eval_freq: 1 - strategy: SNES - strategy_kwargs: - popsize: 50 - num_rollouts: 8 - pqn: env: Acrobot-v1 num_envs: 16 @@ -99,5 +90,5 @@ pqn: eps_end: 0.05 exploration_fraction: 0.5 gamma: 0.99 - lambda_: 0.9 + td_lambda: 0.9 normalize_observations: false diff --git a/configs/gymnax/cartpole.yaml b/configs/gymnax/cartpole.yaml index ad5c739..0dd4b3b 100644 --- a/configs/gymnax/cartpole.yaml +++ b/configs/gymnax/cartpole.yaml @@ -81,15 +81,6 @@ sac: polyak: 0.95 target_entropy_ratio: 0.7 -es: - env: CartPole-v1 - num_generations: 5 - eval_freq: 1 - strategy: SNES - strategy_kwargs: - popsize: 50 - num_rollouts: 8 - pqn: env: CartPole-v1 @@ -105,5 +96,5 @@ pqn: eps_end: 0.05 exploration_fraction: 0.5 gamma: 0.99 - lambda_: 0.9 + td_lambda: 0.9 normalize_observations: false diff --git a/configs/gymnax/continuous_mountaincar.yaml b/configs/gymnax/continuous_mountaincar.yaml index ac06fed..096ee07 100644 --- a/configs/gymnax/continuous_mountaincar.yaml +++ b/configs/gymnax/continuous_mountaincar.yaml @@ -34,24 +34,6 @@ sac: target_entropy_ratio: null -ddpg: - env: MountainCarContinuous-v0 - agent_kwargs: - activation: tanh - num_envs: 1 - buffer_size: 5_000 - fill_buffer: 1000 - batch_size: 100 - learning_rate: 0.001 - num_epochs: 1 - total_timesteps: 10_000 - eval_freq: 100 - gamma: 0.98 - polyak: 0.995 - max_grad_norm: 10 - exploration_noise: 0.2 - - td3: env: MountainCarContinuous-v0 actor_kwargs: @@ -71,15 +53,3 @@ td3: target_noise: 0.2 target_noise_clip: 0.5 policy_delay: 2 - -es: - env: MountainCarContinuous-v0 - agent_kwargs: - features: [32] - use_bias: true - num_generations: 100 - eval_freq: 1 - strategy: SNES - strategy_kwargs: - popsize: 50 - num_rollouts: 8 diff --git a/configs/gymnax/mountaincar.yaml b/configs/gymnax/mountaincar.yaml index ff9ea95..4ce5221 100644 --- a/configs/gymnax/mountaincar.yaml +++ b/configs/gymnax/mountaincar.yaml @@ -68,5 +68,5 @@ pqn: eps_end: 0.05 exploration_fraction: 0.5 gamma: 0.99 - lambda_: 0.9 + td_lambda: 0.9 normalize_observations: false diff --git a/configs/gymnax/pendulum.yaml b/configs/gymnax/pendulum.yaml index d57f14c..671f012 100644 --- a/configs/gymnax/pendulum.yaml +++ b/configs/gymnax/pendulum.yaml @@ -36,25 +36,6 @@ sac: normalize_observations: true -ddpg: - env: Pendulum-v1 - agent_kwargs: - activation: swish - num_envs: 1 - buffer_size: 5_000 - fill_buffer: 1000 - batch_size: 100 - learning_rate: 0.001 - num_epochs: 1 - total_timesteps: 10_000 - eval_freq: 100 - gamma: 0.98 - polyak: 0.995 - max_grad_norm: 10 - exploration_noise: 0.2 - normalize_observations: true - - td3: env: Pendulum-v1 actor_kwargs: @@ -77,15 +58,3 @@ td3: target_noise_clip: 0.5 policy_delay: 2 normalize_observations: true - -es: - env: Pendulum-v1 - agent_kwargs: - features: [32] - use_bias: true - num_generations: 100 - eval_freq: 1 - strategy: SNES - strategy_kwargs: - popsize: 50 - num_rollouts: 8 diff --git a/configs/navix/distshift2.yaml b/configs/navix/distshift2.yaml index 3f17052..1ac0c5c 100644 --- a/configs/navix/distshift2.yaml +++ b/configs/navix/distshift2.yaml @@ -91,5 +91,5 @@ pqn: eps_end: 0.1 exploration_fraction: 0.3 gamma: 0.9 - lambda_: 0.8 + td_lambda: 0.8 normalize_observations: false diff --git a/configs/navix/doorkey_16x16.yaml b/configs/navix/doorkey_16x16.yaml index d5b63fa..2fcc370 100644 --- a/configs/navix/doorkey_16x16.yaml +++ b/configs/navix/doorkey_16x16.yaml @@ -91,5 +91,5 @@ pqn: eps_end: 0.1 exploration_fraction: 0.3 gamma: 0.8 - lambda_: 0.2 + td_lambda: 0.2 normalize_observations: true diff --git a/configs/navix/doorkey_8x8.yaml b/configs/navix/doorkey_8x8.yaml index 8e10268..d57d1d7 100644 --- a/configs/navix/doorkey_8x8.yaml +++ b/configs/navix/doorkey_8x8.yaml @@ -91,5 +91,5 @@ pqn: eps_end: 0.1 exploration_fraction: 0.2 gamma: 0.99 - lambda_: 0.4 + td_lambda: 0.4 normalize_observations: true diff --git a/configs/navix/empty_16x16.yaml b/configs/navix/empty_16x16.yaml index 93d8853..2aac34a 100644 --- a/configs/navix/empty_16x16.yaml +++ b/configs/navix/empty_16x16.yaml @@ -91,5 +91,5 @@ pqn: eps_end: 0.1 exploration_fraction: 0.5 gamma: 0.8 - lambda_: 0.8 + td_lambda: 0.8 normalize_observations: false diff --git a/configs/navix/empty_6x6.yaml b/configs/navix/empty_6x6.yaml index 3e8b43b..f45d2d3 100644 --- a/configs/navix/empty_6x6.yaml +++ b/configs/navix/empty_6x6.yaml @@ -92,5 +92,5 @@ pqn: eps_end: 0.1 exploration_fraction: 0.3 gamma: 0.9 - lambda_: 0.8 + td_lambda: 0.8 normalize_observations: false diff --git a/configs/navix/empty_random_8x8.yaml b/configs/navix/empty_random_8x8.yaml index 20e3d2f..6f90141 100644 --- a/configs/navix/empty_random_8x8.yaml +++ b/configs/navix/empty_random_8x8.yaml @@ -91,5 +91,5 @@ pqn: eps_end: 0.05 exploration_fraction: 0.2 gamma: 0.99 - lambda_: 0.8 + td_lambda: 0.8 normalize_observations: true diff --git a/configs/navix/fourrooms.yaml b/configs/navix/fourrooms.yaml index d6067d3..bf1a462 100644 --- a/configs/navix/fourrooms.yaml +++ b/configs/navix/fourrooms.yaml @@ -91,5 +91,5 @@ pqn: eps_end: 0.05 exploration_fraction: 0.7 gamma: 0.99 - lambda_: 0.4 + td_lambda: 0.4 normalize_observations: true diff --git a/configs/navix/gotodoor_6x6.yaml b/configs/navix/gotodoor_6x6.yaml index 4e15fbc..6677c44 100644 --- a/configs/navix/gotodoor_6x6.yaml +++ b/configs/navix/gotodoor_6x6.yaml @@ -91,5 +91,5 @@ pqn: eps_end: 0.05 exploration_fraction: 0.2 gamma: 0.99 - lambda_: 0.8 + td_lambda: 0.8 normalize_observations: true diff --git a/configs/navix/keycorridors4r4.yaml b/configs/navix/keycorridors4r4.yaml index 22d4c2b..ad90f29 100644 --- a/configs/navix/keycorridors4r4.yaml +++ b/configs/navix/keycorridors4r4.yaml @@ -93,5 +93,5 @@ pqn: eps_end: 0.05 exploration_fraction: 0.4 gamma: 0.95 - lambda_: 0.8 + td_lambda: 0.8 normalize_observations: true diff --git a/configs/navix/lavagaps6.yaml b/configs/navix/lavagaps6.yaml index 799f827..66914be 100644 --- a/configs/navix/lavagaps6.yaml +++ b/configs/navix/lavagaps6.yaml @@ -91,5 +91,5 @@ pqn: eps_end: 0.1 exploration_fraction: 0.2 gamma: 0.8 - lambda_: 0.8 + td_lambda: 0.8 normalize_observations: true diff --git a/configs/navix/simplecrossings9n1.yaml b/configs/navix/simplecrossings9n1.yaml index e4ecffd..ad38345 100644 --- a/configs/navix/simplecrossings9n1.yaml +++ b/configs/navix/simplecrossings9n1.yaml @@ -91,5 +91,5 @@ pqn: eps_end: 0.05 exploration_fraction: 0.2 gamma: 0.99 - lambda_: 0.8 + td_lambda: 0.8 normalize_observations: true diff --git a/tests/test_configs.py b/tests/test_configs.py new file mode 100644 index 0000000..49248a7 --- /dev/null +++ b/tests/test_configs.py @@ -0,0 +1,33 @@ +import os +import unittest + +from yaml import safe_load + +from rejax import get_algo + + +class TestConfigs(unittest.TestCase): + def setUp(self) -> None: + configs = {} + for root, _, files in os.walk("configs"): + for file in files: + if file.endswith(".yaml"): + with open(os.path.join(root, file)) as f: + configs[os.path.join(root, file)] = safe_load(f) + self.configs = configs + + def test_configs(self) -> None: + for config_path, configs_env in self.configs.items(): + for algo, config in configs_env.items(): + if config.get("env", "").startswith("navix"): + continue + + with self.subTest(config_opath=config_path, algo=algo): + try: + algo_cls = get_algo(algo) + algo_cls.create(**config) + except Exception as e: + self.fail( + f"Failed to create {algo} with config '{config_path}': " + f"{type(e).__name__}: {str(e)}" + ) From bfedd6486243900acb25e88213de2e06ab93328e Mon Sep 17 00:00:00 2001 From: jarek Date: Thu, 14 Nov 2024 15:58:40 +0000 Subject: [PATCH 5/7] jumanji compat --- pdm.lock | 240 +++++++++++++++-------------- pyproject.toml | 1 + src/rejax/algos/__init__.py | 9 +- src/rejax/compat/__init__.py | 1 + src/rejax/compat/jumanji2gymnax.py | 168 ++++++++++++++++++++ tests/test_compat_jumanji.py | 41 +++++ 6 files changed, 346 insertions(+), 114 deletions(-) create mode 100644 src/rejax/compat/jumanji2gymnax.py create mode 100644 tests/test_compat_jumanji.py diff --git a/pdm.lock b/pdm.lock index 5c68254..80123cf 100644 --- a/pdm.lock +++ b/pdm.lock @@ -5,7 +5,7 @@ groups = ["default", "compat"] strategy = ["inherit_metadata"] lock_version = "4.5.0" -content_hash = "sha256:5d99f3c5c5359f2c7015d8697b4ae064a84a5f0dd2941b6855642420bd988880" +content_hash = "sha256:261815e7a3039b0a35dcdc0894a257d209e528418b624dba93394ba178f0cf87" [[metadata.targets]] requires_python = ">=3.10" @@ -274,7 +274,7 @@ version = "0.4.6" requires_python = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,!=3.6.*,>=2.7" summary = "Cross-platform colored terminal text." groups = ["default", "compat"] -marker = "sys_platform == \"win32\" or platform_system == \"Windows\"" +marker = "platform_system == \"Windows\" or sys_platform == \"win32\"" files = [ {file = "colorama-0.4.6-py2.py3-none-any.whl", hash = "sha256:4f1d9991f5acc0ca119f9d443620b77f9d6b33703e51011c16baf57afb285fc6"}, {file = "colorama-0.4.6.tar.gz", hash = "sha256:08695f5cb7ed6e0531a20572697297273c47b8cae5a63ffc6d6ed5c201be6e44"}, @@ -944,6 +944,26 @@ files = [ {file = "gymnax-0.0.8.tar.gz", hash = "sha256:81defc17f52a30a84338b3daa574d7a3bb112f2656f45c783a71efe31eea68ff"}, ] +[[package]] +name = "huggingface-hub" +version = "0.26.2" +requires_python = ">=3.8.0" +summary = "Client library to download and publish models, datasets and other repos on the huggingface.co hub" +groups = ["compat"] +dependencies = [ + "filelock", + "fsspec>=2023.5.0", + "packaging>=20.9", + "pyyaml>=5.1", + "requests", + "tqdm>=4.42.1", + "typing-extensions>=3.7.4.3", +] +files = [ + {file = "huggingface_hub-0.26.2-py3-none-any.whl", hash = "sha256:98c2a5a8e786c7b2cb6fdeb2740893cba4d53e312572ed3d8afafda65b128c46"}, + {file = "huggingface_hub-0.26.2.tar.gz", hash = "sha256:b100d853465d965733964d123939ba287da60a547087783ddff8a323f340332b"}, +] + [[package]] name = "humanize" version = "4.11.0" @@ -1124,6 +1144,28 @@ files = [ {file = "jinja2-3.1.4.tar.gz", hash = "sha256:4a3aee7acbbe7303aede8e9648d13b8bf88a429282aa6122a993f0ac800cb369"}, ] 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["pdm-backend"] diff --git a/src/rejax/algos/__init__.py b/src/rejax/algos/__init__.py index 27ec875..d0a2e73 100644 --- a/src/rejax/algos/__init__.py +++ b/src/rejax/algos/__init__.py @@ -1,8 +1,13 @@ from .algorithm import Algorithm from .dqn import DQN from .iqn import IQN -from .mixins import (EpsilonGreedyMixin, NormalizeObservationsMixin, - ReplayBufferMixin, TargetNetworkMixin, VectorizedEnvMixin) +from .mixins import ( + EpsilonGreedyMixin, + NormalizeObservationsMixin, + ReplayBufferMixin, + TargetNetworkMixin, + VectorizedEnvMixin, +) from .ppo import PPO from .pqn import PQN from .sac import SAC diff --git a/src/rejax/compat/__init__.py b/src/rejax/compat/__init__.py index 2034b30..efd0a20 100644 --- a/src/rejax/compat/__init__.py +++ b/src/rejax/compat/__init__.py @@ -5,6 +5,7 @@ _create_fns = { "brax": ("rejax.compat.brax2gymnax", "create_brax"), "navix": ("rejax.compat.navix2gymnax", "create_navix"), + "jumanji": ("rejax.compat.jumanji2gymnax", "create_jumanji"), } diff --git a/src/rejax/compat/jumanji2gymnax.py b/src/rejax/compat/jumanji2gymnax.py new file mode 100644 index 0000000..3d6aea5 --- /dev/null +++ b/src/rejax/compat/jumanji2gymnax.py @@ -0,0 +1,168 @@ +import dataclasses +from functools import partial + +import chex +import jax +import jumanji +from gymnax.environments import spaces +from gymnax.environments.environment import Environment as GymnaxEnv +from gymnax.environments.environment import EnvParams +from jax import numpy as jnp +from jumanji.env import Environment as JumanjiEnv +from jumanji.specs import Array, BoundedArray, DiscreteArray +from jumanji.types import StepType + + +def create_jumanji(env_name, flatten_obs=True, **kwargs): + env = jumanji.make(env_name, **kwargs) + env = Jumanji2GymnaxEnv(env) + if flatten_obs: + env = FlattenObsWrapper(env) + return env, env.default_params + + +def num_entries(space): + if isinstance(space, spaces.Discrete): + return space.num_categories + elif isinstance(space, spaces.Box): + return jnp.prod(jnp.array(space.shape)) + elif isinstance(space, spaces.Dict): + return sum(num_entries(subspace) for subspace in space.spaces.values()) + raise ValueError(f"Unsupported space {space}") + + +def convert_spec(spec): + if isinstance(spec, Array): + return spaces.Box( + low=-jnp.inf, high=jnp.inf, shape=spec.shape, dtype=spec.dtype + ) + elif isinstance(spec, BoundedArray): + return spaces.Box( + low=spec.minimum, high=spec.maximum, shape=spec.shape, dtype=spec.dtype + ) + elif isinstance(spec, DiscreteArray): + return spaces.Discrete(num_categories=spec.num_values) + return spaces.Dict({k: convert_spec(v) for k, v in spec._specs.items()}) + + +def flatten_obs(obs): + if isinstance(obs, (int, float, bool)): + return jnp.array([obs], dtype=jnp.float32) + elif isinstance(obs, chex.Array): + return obs.reshape(-1).astype(jnp.float32) + else: + flat_obs = jax.tree.map(flatten_obs, obs) + leaves = jax.tree.leaves(flat_obs) + return jnp.concatenate(leaves) + + +def observation_to_dict(obs): + if dataclasses.is_dataclass(obs): + return dict(dataclasses.fields(obs)) + elif isinstance(obs, tuple): + try: + return obs._asdict() # defined for namedtuples + except: + raise ValueError( + f"I don't know how to convert observations of type {type(obs)}" + ) + + +class Jumanji2GymnaxEnv(GymnaxEnv): + def __init__(self, env: JumanjiEnv): + self.env = env + self.max_steps_in_episode = getattr(env, "time_limit", 1000) + + @property + def default_params(self): + return EnvParams(max_steps_in_episode=self.max_steps_in_episode) + + @partial(jax.jit, static_argnums=(0,)) + def step(self, key, state, action, params): + # We overwrite to tree map reset selection + if params is None: + params = self.default_params + key, key_reset = jax.random.split(key) + obs_st, state_st, reward, done, info = self.step_env(key, state, action, params) + obs_re, state_re = self.reset_env(key_reset, params) + + # Tree map over observation as well, to + state, obs = jax.tree.map( + lambda x, y: jax.lax.select(done, x, y), + (state_re, obs_re), + (state_st, obs_st), + ) + return obs, state, reward, done, info + + def step_env(self, key, state, action, params): + # Is this reasonable? Should we let Jumanji handle this? + if "key" in dataclasses.fields(state): + state = dataclasses.replace(state, key=key) + + state, obs = self.env.step(state, action) + done = obs.step_type == StepType.LAST + obs_obs = observation_to_dict(obs.observation) + return obs_obs, state, obs.reward, done, obs.extras + + def reset_env(self, key, params): + state, obs = self.env.reset(key) + obs_obs = observation_to_dict(obs.observation) + return obs_obs, state + + def get_obs(self, state): + # We could implement it by including the obs in the state, but I will wait + # until someone raises an issue... + raise NotImplementedError + + def is_terminal(self, state): + # see Jumanji2GymnaxEnv.get_obs + raise NotImplementedError + + @property + def name(self): + return self.env.unwrapped.__class__.__name__ + + def action_space(self, params): + spec = self.env.action_spec + return convert_spec(spec) + + def observation_space(self, params): + spec = self.env.observation_spec + # This is a little hacky since it accesses a private attribute, but the jumanji + # specs do not expose the name of each spec. Using spec.generate_value is not an + # option since we wouldn't know the minvals/maxvals of bounded arrays. + return spaces.Dict({n: convert_spec(s) for n, s in spec._specs.items()}) + + @property + def num_entries(self) -> int: + return num_entries(self.action_space(None)) + + +class FlattenObsWrapper(GymnaxEnv): + def __init__(self, env): + self.env = env + + def __getattribute__(self, name): + if name in ["env", "reset", "step", "observation_space", "get_obs"]: + return super().__getattribute__(name) + return self.env.__getattribute__(name) + + def observation_space(self, params): + space = self.env.observation_space(params) + size = num_entries(space) + return spaces.Box(-jnp.inf, jnp.inf, (size,), dtype=jnp.float32) + + def get_obs(self, state): + raise NotImplementedError + + @partial(jax.jit, static_argnums=(0,)) + def step(self, key, state, action, params): + obs, state, reward, done, info = self.env.step(key, state, action, params) + obs = flatten_obs(obs) + return obs, state, reward, done, info + + @partial(jax.jit, static_argnums=(0,)) + def reset(self, key, params=None): + obs, state = self.env.reset(key, params) + obs = flatten_obs(obs) + return obs, state diff --git a/tests/test_compat_jumanji.py b/tests/test_compat_jumanji.py new file mode 100644 index 0000000..f146989 --- /dev/null +++ b/tests/test_compat_jumanji.py @@ -0,0 +1,41 @@ +import unittest + +import jax +import jumanji + +from rejax.compat.jumanji2gymnax import create_jumanji + + +class TestJumanjiCompat(unittest.TestCase): + def test_create(self): + rng = jax.random.PRNGKey(0) + + for env in jumanji.registered_environments(): + # This environment downloads some stuff from the internet. I'll just assume + # that it works if the others do... + if env.startswith("Sokoban"): + continue + + with self.subTest(env=env): + env, params = create_jumanji(env) + obs, state = env.reset(rng, params) + try: + env.observation_space(params) + except Exception as e: + self.fail(f"Failed to get obs space: {type(e).__name__}: {e}") + + try: + a = env.action_space(params).sample(rng) + except Exception as e: + self.fail(f"Failed to sample action: {type(e).__name__}: {e}") + + for _ in range(3): + try: + obs, state, reward, done, info = env.step(rng, state, a, params) + except Exception as e: + self.fail(f"Failed to step: {type(e).__name__}: {e}") + + self.assertEqual(obs.dtype, env.observation_space(params).dtype) + self.assertEqual(obs.shape, env.observation_space(params).shape) + self.assertEqual(a.dtype, env.action_space(params).dtype) + self.assertEqual(a.shape, env.action_space(params).shape) From d66fc00c03670f98bf96976e7881963f6915a43f Mon Sep 17 00:00:00 2001 From: jarek Date: 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b/.github/workflows/python-package.yml @@ -16,7 +16,7 @@ jobs: strategy: fail-fast: false matrix: - python-version: ["3.9", "3.10", "3.11"] + python-version: ["3.10", "3.11", "3.12"] steps: - uses: actions/checkout@v4