File size: 1,783 Bytes
079c32c |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 |
import os
import gym
import torch
from tensorboardX import SummaryWriter
from easydict import EasyDict
from ding.config import compile_config
from ding.worker import BaseLearner, SampleSerialCollector, InteractionSerialEvaluator, NaiveReplayBuffer
from ding.envs import BaseEnvManager, DingEnvWrapper
from ding.policy import PPOPolicy
from ding.model import VAC
from ding.utils import set_pkg_seed
from dizoo.gym_pybullet_drones.envs.gym_pybullet_drones_env import GymPybulletDronesEnv
from dizoo.gym_pybullet_drones.config.takeoffaviary_onppo_config import takeoffaviary_ppo_config
def main(cfg, seed=0, max_iterations=int(1e10)):
cfg = compile_config(
cfg,
BaseEnvManager,
PPOPolicy,
BaseLearner,
SampleSerialCollector,
InteractionSerialEvaluator,
NaiveReplayBuffer,
save_cfg=True
)
collector_env_num, evaluator_env_num = cfg.env.collector_env_num, cfg.env.evaluator_env_num
cfg.env['record'] = True
cfg.env['gui'] = True
cfg.env['print_debug_info'] = True
cfg.env['plot_observation'] = True
evaluator_env = BaseEnvManager(
env_fn=[lambda: GymPybulletDronesEnv(cfg.env) for _ in range(evaluator_env_num)], cfg=cfg.env.manager
)
evaluator_env.seed(seed, dynamic_seed=False)
set_pkg_seed(seed, use_cuda=cfg.policy.cuda)
model = VAC(**cfg.policy.model)
policy = PPOPolicy(cfg.policy, model=model)
policy.eval_mode.load_state_dict(torch.load(cfg.policy.load_path, map_location='cpu'))
tb_logger = SummaryWriter(os.path.join('./log/', 'serial'))
evaluator = InteractionSerialEvaluator(cfg.policy.eval.evaluator, evaluator_env, policy.eval_mode, tb_logger)
evaluator.eval()
if __name__ == "__main__":
main(takeoffaviary_ppo_config)
|