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* Update outdated custom env doc * fix render_mode and term/trunc/reset_info * gym -> gymnasium --------- Co-authored-by: Quentin Gallouédec <45557362+qgallouedec@users.noreply.github.com>
178 lines
4.5 KiB
ReStructuredText
178 lines
4.5 KiB
ReStructuredText
.. _ddpg:
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.. automodule:: stable_baselines3.ddpg
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DDPG
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====
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`Deep Deterministic Policy Gradient (DDPG) <https://spinningup.openai.com/en/latest/algorithms/ddpg.html>`_ combines the
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trick for DQN with the deterministic policy gradient, to obtain an algorithm for continuous actions.
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.. note::
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As ``DDPG`` can be seen as a special case of its successor :ref:`TD3 <td3>`,
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they share the same policies and same implementation.
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.. rubric:: Available Policies
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.. autosummary::
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:nosignatures:
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MlpPolicy
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CnnPolicy
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MultiInputPolicy
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Notes
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-----
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- Deterministic Policy Gradient: http://proceedings.mlr.press/v32/silver14.pdf
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- DDPG Paper: https://arxiv.org/abs/1509.02971
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- OpenAI Spinning Guide for DDPG: https://spinningup.openai.com/en/latest/algorithms/ddpg.html
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Can I use?
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----------
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- Recurrent policies: ❌
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- Multi processing: ✔️
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- Gym spaces:
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============= ====== ===========
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Space Action Observation
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============= ====== ===========
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Discrete ❌ ✔️
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Box ✔️ ✔️
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MultiDiscrete ❌ ✔️
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MultiBinary ❌ ✔️
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Dict ❌ ✔️
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============= ====== ===========
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Example
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-------
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This example is only to demonstrate the use of the library and its functions, and the trained agents may not solve the environments. Optimized hyperparameters can be found in RL Zoo `repository <https://github.com/DLR-RM/rl-baselines3-zoo>`_.
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.. code-block:: python
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import gymnasium as gym
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import numpy as np
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from stable_baselines3 import DDPG
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from stable_baselines3.common.noise import NormalActionNoise, OrnsteinUhlenbeckActionNoise
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env = gym.make("Pendulum-v1", render_mode="rgb_array")
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# The noise objects for DDPG
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n_actions = env.action_space.shape[-1]
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action_noise = NormalActionNoise(mean=np.zeros(n_actions), sigma=0.1 * np.ones(n_actions))
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model = DDPG("MlpPolicy", env, action_noise=action_noise, verbose=1)
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model.learn(total_timesteps=10000, log_interval=10)
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model.save("ddpg_pendulum")
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vec_env = model.get_env()
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del model # remove to demonstrate saving and loading
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model = DDPG.load("ddpg_pendulum")
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obs = vec_env.reset()
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while True:
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action, _states = model.predict(obs)
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obs, rewards, dones, info = vec_env.step(action)
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env.render("human")
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Results
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-------
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PyBullet Environments
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^^^^^^^^^^^^^^^^^^^^^
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Results on the PyBullet benchmark (1M steps) using 6 seeds.
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The complete learning curves are available in the `associated issue #48 <https://github.com/DLR-RM/stable-baselines3/issues/48>`_.
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.. note::
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Hyperparameters of :ref:`TD3 <td3>` from the `gSDE paper <https://arxiv.org/abs/2005.05719>`_ were used for ``DDPG``.
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*Gaussian* means that the unstructured Gaussian noise is used for exploration,
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*gSDE* (generalized State-Dependent Exploration) is used otherwise.
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+--------------+--------------+--------------+--------------+
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| Environments | DDPG | TD3 | SAC |
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+==============+==============+==============+==============+
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| | Gaussian | Gaussian | gSDE |
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+--------------+--------------+--------------+--------------+
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| HalfCheetah | 2272 +/- 69 | 2774 +/- 35 | 2984 +/- 202 |
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+--------------+--------------+--------------+--------------+
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| Ant | 1651 +/- 407 | 3305 +/- 43 | 3102 +/- 37 |
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+--------------+--------------+--------------+--------------+
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| Hopper | 1201 +/- 211 | 2429 +/- 126 | 2262 +/- 1 |
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+--------------+--------------+--------------+--------------+
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| Walker2D | 882 +/- 186 | 2063 +/- 185 | 2136 +/- 67 |
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+--------------+--------------+--------------+--------------+
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How to replicate the results?
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Clone the `rl-zoo repo <https://github.com/DLR-RM/rl-baselines3-zoo>`_:
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.. code-block:: bash
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git clone https://github.com/DLR-RM/rl-baselines3-zoo
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cd rl-baselines3-zoo/
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Run the benchmark (replace ``$ENV_ID`` by the envs mentioned above):
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.. code-block:: bash
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python train.py --algo ddpg --env $ENV_ID --eval-episodes 10 --eval-freq 10000
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Plot the results:
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.. code-block:: bash
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python scripts/all_plots.py -a ddpg -e HalfCheetah Ant Hopper Walker2D -f logs/ -o logs/ddpg_results
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python scripts/plot_from_file.py -i logs/ddpg_results.pkl -latex -l DDPG
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Parameters
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----------
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.. autoclass:: DDPG
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:members:
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:inherited-members:
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.. _ddpg_policies:
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DDPG Policies
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-------------
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.. autoclass:: MlpPolicy
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:members:
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:inherited-members:
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.. autoclass:: stable_baselines3.td3.policies.TD3Policy
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:members:
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:noindex:
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.. autoclass:: CnnPolicy
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:members:
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:noindex:
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.. autoclass:: MultiInputPolicy
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:members:
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:noindex:
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