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made mujoco run #332

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3 changes: 1 addition & 2 deletions pufferlib/config/mujoco.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -10,10 +10,10 @@ render_mode = rgb_array
[vec]
num_envs = 512
num_workers = 16
batch_size = auto

[train]
total_timesteps = 5_000_000
batch_size = auto
learning_rate = 3e-4
gamma = 0.99
gae_lambda = 0.95
Expand All @@ -24,6 +24,5 @@ vf_clip_coef = 0.2
max_grad_norm = 0.5
ent_coef = 0.0
checkpoint_interval = 200
batch_size = 32768
minibatch_size = 4096
bptt_horizon = 64
16 changes: 4 additions & 12 deletions pufferlib/environments/mujoco/environment.py
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Expand Up @@ -11,21 +11,15 @@
import pufferlib.environments


def single_env_creator(env_name, capture_video, gamma,
def single_env_creator(env_name, gamma,
run_name=None, idx=None, obs_norm=True, pufferl=False, render_mode='rgb_array', buf=None, seed=0):
if capture_video and idx == 0:
assert run_name is not None, "run_name must be specified when capturing videos"
env = gymnasium.make(env_name, render_mode="rgb_array")
env = gymnasium.wrappers.RecordVideo(env, f"videos/{run_name}")
else:
env = gymnasium.make(env_name, render_mode=render_mode)

env = gymnasium.make(env_name, render_mode=render_mode)
env = pufferlib.ClipAction(env) # NOTE: this changed actions space
env = pufferlib.EpisodeStats(env)

if obs_norm:
env = gymnasium.wrappers.NormalizeObservation(env)
env = gymnasium.wrappers.TransformObservation(env, lambda obs: np.clip(obs, -10, 10), env.observation_space)
env = gymnasium.wrappers.TransformObservation(env, lambda obs: np.clip(obs, -10, 10))

env = gymnasium.wrappers.NormalizeReward(env, gamma=gamma)
env = gymnasium.wrappers.TransformReward(env, lambda reward: np.clip(reward, -10, 10))
Expand All @@ -36,11 +30,10 @@ def single_env_creator(env_name, capture_video, gamma,
return env


def cleanrl_env_creator(env_name, run_name, capture_video, gamma, idx):
def cleanrl_env_creator(env_name, run_name, gamma, idx):
kwargs = {
"env_name": env_name,
"run_name": run_name,
"capture_video": capture_video,
"gamma": gamma,
"idx": idx,
"pufferl": False,
Expand All @@ -52,7 +45,6 @@ def cleanrl_env_creator(env_name, run_name, capture_video, gamma, idx):
def env_creator(env_name="HalfCheetah-v4", gamma=0.99):
default_kwargs = {
"env_name": env_name,
"capture_video": False,
"gamma": gamma,
"pufferl": True,
}
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3 changes: 1 addition & 2 deletions pyproject.toml
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Expand Up @@ -149,8 +149,7 @@ minihack = [
]

mujoco = [
'gymnasium[mujoco]==1.0.0',
'moviepy',
'gymnasium[mujoco]==0.29.1',
]

nethack = [
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