Update train and test script

utiasDSL · Feb 5, 2025 · 1236f12 · 1236f12
1 parent 7c2ad96
commit 1236f12
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Showing 2 changed files with 9 additions and 7 deletions.
diff --git a/tutorials/ppo/test.py b/tutorials/ppo/test.py
@@ -4,6 +4,7 @@
 
 import gymnasium
 import gymnasium.wrappers.vector.jax_to_torch
+import jax
 import numpy as np
 import torch
 from agent import Agent
@@ -44,15 +45,16 @@
 test_env = gymnasium.wrappers.vector.jax_to_torch.JaxToTorch(norm_test_env, device=device)
 
 # Load checkpoint
-checkpoint = torch.load(Path(__file__).parent / "ppo_checkpoint.pt")
+checkpoint = torch.load(Path(__file__).parent / "ppo_checkpoint.pt", weights_only=True)
 
 # Create agent and load state
 agent = Agent(test_env).to(device)
 agent.load_state_dict(checkpoint["model_state_dict"])
 
 # Set normalization parameters
-norm_test_env.obs_rms.mean = checkpoint["obs_mean"]
-norm_test_env.obs_rms.var = checkpoint["obs_var"]
+jax_device = jax.devices(env_device)[0]
+norm_test_env.obs_rms.mean = jax.dlpack.from_dlpack(checkpoint["obs_mean"], jax_device)
+norm_test_env.obs_rms.var = jax.dlpack.from_dlpack(checkpoint["obs_var"], jax_device)
 
 # Test for 10 episodes
 n_episodes = 10

diff --git a/tutorials/ppo/train.py b/tutorials/ppo/train.py
@@ -87,8 +87,8 @@ def save_model(agent, optimizer, train_envs, path):
     save_dict = {"model_state_dict": agent.state_dict(), "optim_state_dict": optimizer.state_dict()}
     # Unwrap the environment to find normalization wrapper
     if (norm_env := unwrap_norm_env(train_envs)) is not None:
-        save_dict["obs_mean"] = norm_env.obs_rms.mean
-        save_dict["obs_var"] = norm_env.obs_rms.var
+        save_dict["obs_mean"] = torch.utils.dlpack.from_dlpack(norm_env.obs_rms.mean)
+        save_dict["obs_var"] = torch.utils.dlpack.from_dlpack(norm_env.obs_rms.var)
     torch.save(save_dict, path)
 
 
@@ -414,10 +414,10 @@ def train_ppo(config: ConfigDict, wandb_log: bool = False):
             "seed": 0,
             "n_eval_envs": 64,
             "n_eval_steps": 1_000,
-            "save_model": False,
+            "save_model": True,
             "eval_interval": 999_000,
             "lr_decay": False,
         }
     )
 
-    train_ppo(config, wandb_log=True)
+    train_ppo(config, wandb_log=False)