restart halfflip with correct checkpoint

Kaiyotech · Feb 11, 2023 · f6e93dc · f6e93dc
1 parent b131e88
commit f6e93dc
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Showing 2 changed files with 13 additions and 18 deletions.
diff --git a/learner_half_flip.py b/learner_half_flip.py
@@ -55,10 +55,10 @@
         ent_coef=0.01,
     )
 
-    run_id = "halfflip_run1.00"
+    run_id = "halfflip_run2.00"
     wandb.login(key=os.environ["WANDB_KEY"])
     logger = wandb.init(dir="./wandb_store",
-                        name="Halfflip_Run1.00",
+                        name="Halfflip_Run2.00",
                         project="Opti",
                         entity="kaiyotech",
                         id=run_id,
@@ -86,21 +86,18 @@
                                                                  add_fliptime=True,
                                                                  add_boosttime=True,
                                                                  add_handbrake=True,
-                                                                 flip_dir=False),
+                                                                 ),
                                         lambda: ZeroSumReward(zero_sum=Constants_half_flip.ZERO_SUM,
                                                               velocity_pb_w=0.01,
                                                               boost_gain_w=0.35,
                                                               boost_spend_w=3,
                                                               punish_boost=True,
                                                               touch_ball_w=2,
                                                               boost_remain_touch_w=1.5,
-                                                              touch_grass_w=-0.01,
-                                                              supersonic_bonus_vpb_w=0,
-                                                              zero_touch_grass_if_ss=False,
-                                                              turtle_w=0,
+                                                              touch_grass_w=-0.005,
                                                               final_reward_ball_dist_w=1,
                                                               final_reward_boost_w=0.2,
-                                                              tick_skip=frame_skip
+                                                              tick_skip=frame_skip,
                                                               ),
                                         lambda: CoyoteAction(),
                                         save_every=logger.config.save_every * 3,
@@ -112,11 +109,11 @@
                                         max_age=1,
                                         )
 
-    critic = Sequential(Linear(227, 256), LeakyReLU(), Linear(256, 256), LeakyReLU(),
+    critic = Sequential(Linear(229, 256), LeakyReLU(), Linear(256, 256), LeakyReLU(),
                         Linear(256, 128), LeakyReLU(),
                         Linear(128, 1))
 
-    actor = Sequential(Linear(227, 128), LeakyReLU(), Linear(128, 128), LeakyReLU(),
+    actor = Sequential(Linear(229, 128), LeakyReLU(), Linear(128, 128), LeakyReLU(),
                        Linear(128, 128), LeakyReLU(),
                        Linear(128, 373))
 
@@ -146,10 +143,11 @@
 
     )
 
-    alg.load("recovery_saves/Opti_1675223912.912102/Opti_430/checkpoint.pt")
+    # alg.load("recovery_saves/Opti_1675223912.912102/Opti_430/checkpoint.pt")
+    alg.load("recovery_saves/Opti_1675355797.047272/Opti_680/checkpoint.pt")
     alg.agent.optimizer.param_groups[0]["lr"] = logger.config.actor_lr
     alg.agent.optimizer.param_groups[1]["lr"] = logger.config.critic_lr
 
-    alg.freeze_policy(20)
+    # alg.freeze_policy(20)
 
     alg.run(iterations_per_save=logger.config.save_every, save_dir="half_flip_saves")
diff --git a/worker_half_flip.py b/worker_half_flip.py
@@ -28,13 +28,10 @@
                         punish_boost=True,
                         touch_ball_w=2,
                         boost_remain_touch_w=1.5,
-                        touch_grass_w=-0.01,
-                        supersonic_bonus_vpb_w=0,
-                        zero_touch_grass_if_ss=False,
-                        turtle_w=0,
+                        touch_grass_w=-0.005,
                         final_reward_ball_dist_w=1,
                         final_reward_boost_w=0.2,
-                        tick_skip=frame_skip
+                        tick_skip=frame_skip,
                         )
 
     fps = 120 // frame_skip
@@ -84,7 +81,7 @@
                                      add_fliptime=True,
                                      add_boosttime=True,
                                      add_handbrake=True,
-                                     flip_dir=False),
+                                     ),
         action_parser=CoyoteAction(),
         terminal_conditions=[GoalScoredCondition(),
                              TimeoutCondition(fps * 100),