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dd6e361204
* Added working her version, Online sampling is missing. * Updated test_her. * Added first version of online her sampling. Still problems with tensor dimensions. * Reformat * Fixed tests * Added some comments. * Updated changelog. * Add missing init file * Fixed some small bugs. * Reduced arguments for HER, small changes. * Added getattr. Fixed bug for online sampling. * Updated save/load funtions. Small changes. * Added her to init. * Updated save method. * Updated her ratio. * Move obs_wrapper * Added DQN test. * Fix potential bug * Offline and online her share same sample_goal function. * Changed lists into arrays. * Updated her test. * Fix online sampling * Fixed action bug. Updated time limit for episodes. * Updated convert_dict method to take keys as arguments. * Renamed obs dict wrapper. * Seed bit flipping env * Remove get_episode_dict * Add fast online sampling version * Added documentation. * Vectorized reward computation * Vectorized goal sampling * Update time limit for episodes in online her sampling. * Fix max episode length inference * Bug fix for Fetch envs * Fix for HER + gSDE * Reformat (new black version) * Added info dict to compute new reward. Check her_replay_buffer again. * Fix info buffer * Updated done flag. * Fixes for gSDE * Offline her version uses now HerReplayBuffer as episode storage. * Fix num_timesteps computation * Fix get torch params * Vectorized version for offline sampling. * Modified offline her sampling to use sample method of her_replay_buffer * Updated HER tests. * Updated documentation * Cleanup docstrings * Updated to review comments * Fix pytype * Update according to review comments. * Removed random goal strategy. Updated sample transitions. * Updated migration. Removed time signal removal. * Update doc * Fix potential load issue * Add VecNormalize support for dict obs * Updated saving/loading replay buffer for HER. * Fix test memory usage * Fixed save/load replay buffer. * Fixed save/load replay buffer * Fixed transition index after loading replay buffer in online sampling * Better error handling * Add tests for get_time_limit * More tests for VecNormalize with dict obs * Update doc * Improve HER description * Add test for sde support * Add comments * Add comments * Remove check that was always valid * Fix for terminal observation * Updated buffer size in offline version and reset of HER buffer * Reformat * Update doc * Remove np.empty + add doc * Fix loading * Updated loading replay buffer * Separate online and offline sampling + bug fixes * Update tensorboard log name * Version bump * Bug fix for special case Co-authored-by: Antonin Raffin <antonin.raffin@dlr.de> Co-authored-by: Antonin RAFFIN <antonin.raffin@ensta.org>
101 lines
2.3 KiB
ReStructuredText
101 lines
2.3 KiB
ReStructuredText
.. _ppo2:
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.. automodule:: stable_baselines3.ppo
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PPO
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===
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The `Proximal Policy Optimization <https://arxiv.org/abs/1707.06347>`_ algorithm combines ideas from A2C (having multiple workers)
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and TRPO (it uses a trust region to improve the actor).
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The main idea is that after an update, the new policy should be not too far form the old policy.
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For that, ppo uses clipping to avoid too large update.
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.. note::
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PPO contains several modifications from the original algorithm not documented
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by OpenAI: advantages are normalized and value function can be also clipped .
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Notes
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-----
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- Original paper: https://arxiv.org/abs/1707.06347
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- Clear explanation of PPO on Arxiv Insights channel: https://www.youtube.com/watch?v=5P7I-xPq8u8
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- OpenAI blog post: https://blog.openai.com/openai-baselines-ppo/
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- Spinning Up guide: https://spinningup.openai.com/en/latest/algorithms/ppo.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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============= ====== ===========
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Example
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-------
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Train a PPO agent on ``Pendulum-v0`` using 4 environments.
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.. code-block:: python
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import gym
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from stable_baselines3 import PPO
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from stable_baselines3.ppo import MlpPolicy
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from stable_baselines3.common.env_util import make_vec_env
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# Parallel environments
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env = make_vec_env('CartPole-v1', n_envs=4)
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model = PPO(MlpPolicy, env, verbose=1)
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model.learn(total_timesteps=25000)
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model.save("ppo_cartpole")
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del model # remove to demonstrate saving and loading
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model = PPO.load("ppo_cartpole")
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obs = 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 = env.step(action)
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env.render()
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Parameters
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----------
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.. autoclass:: PPO
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:members:
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:inherited-members:
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PPO 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.common.policies.ActorCriticPolicy
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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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.. autoclass:: stable_baselines3.common.policies.ActorCriticCnnPolicy
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:members:
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:noindex:
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