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worker_0.multi_agent_graph_0.json
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worker_0.multi_agent_graph_0.json
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done_condition:
<built-in function any>
sess:
agent: <tensorflow.python.client.session.Session object at 0x7f7cae026f98>
level_managers:
0: <markov.multi_agent_coach.multi_agent_level_manager.MultiAgentLevelManager object at 0x7f7cae01c208>
top_level_manager:
<markov.multi_agent_coach.multi_agent_level_manager.MultiAgentLevelManager object at 0x7f7cae01c208>
environments:
0: <markov.environments.deepracer_racetrack_env.DeepRacerRacetrackEnv object at 0x7f7cae01cba8>
heatup_steps:
<rl_coach.core_types.EnvironmentSteps object at 0x7f7cae8cd748>
evaluation_steps:
<rl_coach.core_types.EnvironmentEpisodes object at 0x7f7cae8cd710>
steps_between_evaluation_periods:
<rl_coach.core_types.EnvironmentEpisodes object at 0x7f7cae8cd5f8>
improve_steps:
<rl_coach.core_types.TrainingSteps object at 0x7f7cae8cd6d8>
visualization_parameters:
"VisualizationParameters" {
"add_rendered_image_to_env_response": false,
"dump_csv": true,
"dump_gifs": false,
"dump_in_episode_signals": false,
"dump_mp4": false,
"dump_parameters_documentation": true,
"dump_signals_to_csv_every_x_episodes": 5,
"max_fps_for_human_control": 10,
"native_rendering": false,
"print_networks_summary": false,
"render": false,
"tensorboard": false,
"video_dump_filters": {
"0": {
"run_phases": {
"0": {
"_value_": "Testing",
"_name_": "TEST",
"__objclass__": "<enum 'RunPhase'>"
}
},
"__class__": "SelectedPhaseOnlyDumpFilter"
},
"1": {
"max_reward_achieved": -Infinity,
"__class__": "MaxDumpFilter"
}
}
}
name:
multi_agent_graph
task_parameters:
"TaskParameters" {
"apply_stop_condition": false,
"checkpoint_restore_path": null,
"checkpoint_save_dir": "./checkpoint_sagemaker",
"checkpoint_save_secs": 20,
"evaluate_only": null,
"experiment_path": "/opt/ml/model",
"export_onnx_graph": false,
"framework_type": {
"_value_": "TensorFlow",
"_name_": "tensorflow",
"__objclass__": "<enum 'Frameworks'>"
},
"num_gpu": 1,
"seed": null,
"task_index": 0,
"use_cpu": false
}
_phase:
RunPhase.UNDEFINED
preset_validation_params:
"PresetValidationParameters" {
"max_episodes_to_achieve_reward": 10000,
"min_reward_threshold": 400,
"num_workers": 1,
"read_csv_tries": 200,
"reward_test_level": null,
"test": true,
"test_using_a_trace_test": true,
"trace_max_env_steps": 5000,
"trace_test_levels": null
}
reset_required:
False
num_checkpoints_to_keep:
4
graph_creation_time:
1666453845.5158918
last_checkpoint_saving_time:
1666453845.2384658
total_steps_counters:
RunPhase.HEATUP: <rl_coach.core_types.TotalStepsCounter object at 0x7f7cae8cdba8>
RunPhase.TRAIN: <rl_coach.core_types.TotalStepsCounter object at 0x7f7cae8cdc50>
RunPhase.TEST: <rl_coach.core_types.TotalStepsCounter object at 0x7f7cae8cdc18>
checkpoint_id:
0
checkpoint_saver:
agent: <rl_coach.saver.SaverCollection object at 0x7f7cae01cfd0>
checkpoint_state_updater:
agent: None
graph_logger:
<rl_coach.logger.Logger object at 0x7f7cae8cdbe0>
data_store:
<markov.s3_boto_data_store.S3BotoDataStore object at 0x7f7cae01cb38>
is_batch_rl:
False
time_metric:
TimeTypes.EpisodeNumber
env_params:
"DeepRacerRacetrackEnvParameters" {
"agents_params": {
"0": {
"algorithm": {
"act_for_full_episodes": true,
"apply_gradients_every_x_episodes": 5,
"beta_entropy": 0.01,
"clip_likelihood_ratio_using_epsilon": 0.2,
"clipping_decay_schedule": {
"current_value": 1,
"initial_value": 1,
"__class__": "ConstantSchedule"
},
"discount": 0.999,
"distributed_coach_synchronization_type": {
"_value_": "sync",
"_name_": "SYNC",
"__objclass__": "<enum 'DistributedCoachSynchronizationType'>"
},
"estimate_state_value_using_gae": true,
"gae_lambda": 0.95,
"heatup_using_network_decisions": false,
"in_action_space": null,
"load_memory_from_file_path": null,
"n_step": -1,
"normalization_stats": null,
"num_consecutive_playing_steps": {
"_num_steps": 20,
"__class__": "EnvironmentEpisodes"
},
"num_consecutive_training_steps": 1,
"num_episodes_in_experience_replay": 1000000,
"num_steps_between_copying_online_weights_to_target": {
"_num_steps": 20,
"__class__": "EnvironmentEpisodes"
},
"optimization_epochs": 10,
"policy_gradient_rescaler": {
"_value_": 8,
"_name_": "GAE",
"__objclass__": "<enum 'PolicyGradientRescaler'>"
},
"rate_for_copying_weights_to_target": 1.0,
"share_statistics_between_workers": true,
"store_transitions_only_when_episodes_are_terminated": false,
"supports_parameter_noise": false,
"use_accumulated_reward_as_measurement": false,
"use_kl_regularization": false,
"__class__": "ClippedPPOAlgorithmParameters"
},
"current_episode": 0,
"env_agent": {
"_ctrl_": {
"_action_space_": {
"_high": "array([1., 1.])",
"_low": "array([-1., -1.])",
"_shape": "array([2])",
"default_action": "array([0., 0.])",
"descriptions": {},
"max_abs_range": "array([1., 1.])",
"num_dimensions": 1,
"num_elements": 2,
"scale_action_space": true,
"scaled_up_action_space_bounds": {
"high": "array([30., 1.])",
"low": "array([-30. , 0.5])"
},
"__class__": "ScalableBoxActionSpace"
},
"_agent_name_": "racecar",
"_model_metadata_": {
"_bucket": "aws-deepracer-data-us-east-1-1",
"_local_dir": "./custom_files/agent",
"_local_path": "./custom_files/agent/model_metadata.json",
"_model_metadata": {
"action_space": {
"speed": {
"high": 1.0,
"low": 0.5
},
"steering_angle": {
"high": 30.0,
"low": -30.0
}
},
"action_space_type": "continuous",
"lidar_config": {
"clipping_dist": 2.0,
"num_sectors": 8,
"num_values_per_sector": 8
},
"neural_network": "DEEP_CONVOLUTIONAL_NETWORK_SHALLOW",
"sensor": {
"0": "FRONT_FACING_CAMERA"
},
"training_algorithm": "clipped_ppo",
"version": 4.0
},
"_s3_client": {
"_backoff_time_sec": 1.0,
"_boto_client_name": "s3",
"_log_and_cont": false,
"_max_retry_attempts": 5,
"_region_name": "us-east-1",
"_session": null,
"__class__": "S3Client"
},
"_s3_key": "data-50815ffd-b803-46ef-a3d4-5ce94cec185d/models/b506819b-018d-4aeb-a9f4-c0c2d9400113/model_metadata.json",
"__class__": "ModelMetadata"
},
"__class__": "TrainingCtrl"
},
"_network_settings_": {
"activation_function": "relu",
"embedder_type": "scheme",
"input_embedders": {
"FRONT_FACING_CAMERA": {
"bn_info_conv": {
"0": false,
"1": "relu",
"2": 0.0
},
"bn_info_dense": {
"0": false,
"1": "relu",
"2": 0.0
},
"conv_info_list": {
"0": {
"0": 32,
"1": 8,
"2": 4
},
"1": {
"0": 64,
"1": 4,
"2": 2
},
"2": {
"0": 64,
"1": 3,
"2": 1
}
},
"dense_layer__hidden_unit_list": {},
"is_first_layer_bn": false
}
},
"middleware_embedders": {
"bn_info_conv": {
"0": false,
"1": "relu",
"2": 0.0
},
"bn_info_dense": {
"0": false,
"1": "relu",
"2": 0.0
},
"conv_info_list": {},
"dense_layer__hidden_unit_list": {
"0": 512
},
"is_first_layer_bn": false
}
},
"_sensor_": {
"sensors": {
"0": {
"__class__": "Camera"
}
},
"__class__": "CompositeSensor"
},
"__class__": "Agent"
},
"exploration": {
"action_space": {
"_high": "array([1., 1.])",
"_low": "array([-1., -1.])",
"_shape": "array([2])",
"default_action": "array([0., 0.])",
"descriptions": {},
"max_abs_range": "array([1., 1.])",
"num_dimensions": 1,
"num_elements": 2,
"scale_action_space": true,
"scaled_up_action_space_bounds": {
"high": "array([30., 1.])",
"low": "array([-30. , 0.5])"
},
"__class__": "ScalableBoxActionSpace"
},
"evaluation_noise": 0.05,
"noise_as_percentage_from_action_space": true,
"noise_schedule": {
"current_value": 0.1,
"decay_delta": 0.0,
"decay_steps": 50000,
"final_value": 0.1,
"initial_value": 0.1,
"__class__": "LinearSchedule"
},
"__class__": "AdditiveNoiseParameters"
},
"full_name_id": "main_level/agent",
"input_filter": {
"_observation_filters": {
"FRONT_FACING_CAMERA": {
"to_grayscale": {
"name": null,
"supports_batching": false,
"__class__": "ObservationRGBToYFilter"
},
"to_uint8": {
"input_high": 255,
"input_low": 0,
"name": null,
"supports_batching": false,
"__class__": "ObservationToUInt8Filter"
},
"stacking": {
"input_observation_space": null,
"name": null,
"stack": {},
"stack_size": 1,
"stacking_axis": -1,
"supports_batching": false,
"__class__": "ObservationStackingFilter"
}
}
},
"_reward_filters": {},
"i_am_a_reference_filter": false,
"name": "input_filter",
"__class__": "InputFilter"
},
"is_a_highest_level_agent": true,
"is_a_lowest_level_agent": true,
"is_batch_rl_training": false,
"memory": {
"load_memory_from_file_path": null,
"max_size": [
"<MemoryGranularity.Transitions: 0>",
1000000
],
"n_step": -1,
"shared_memory": false,
"train_to_eval_ratio": 1,
"__class__": "DeepRacerMemoryParameters"
},
"name": "agent",
"network_wrappers": {
"main": {
"adam_optimizer_beta1": 0.9,
"adam_optimizer_beta2": 0.999,
"async_training": false,
"batch_size": 64,
"clip_gradients": null,
"create_target_network": true,
"embedding_merger_type": {
"_value_": 0,
"_name_": "Concat",
"__objclass__": "<enum 'EmbeddingMergerType'>"
},
"force_cpu": false,
"framework": {
"_value_": "TensorFlow",
"_name_": "tensorflow",
"__objclass__": "<enum 'Frameworks'>"
},
"gradients_clipping_method": {
"_value_": 0,
"_name_": "ClipByGlobalNorm",
"__objclass__": "<enum 'GradientClippingMethod'>"
},
"heads_parameters": {
"0": {
"activation_function": "relu",
"dense_layer": null,
"initializer": "normalized_columns",
"is_training": false,
"loss_weight": 1.0,
"name": "v_head_params",
"num_output_head_copies": 1,
"output_bias_initializer": null,
"parameterized_class_name": "VHead",
"rescale_gradient_from_head_by_factor": 1.0,
"__class__": "VHeadParameters"
},
"1": {
"activation_function": "tanh",
"dense_layer": null,
"is_training": false,
"loss_weight": 1.0,
"name": "ppo_head_params",
"num_output_head_copies": 1,
"parameterized_class_name": "PPOHead",
"rescale_gradient_from_head_by_factor": 1.0,
"__class__": "PPOHeadParameters"
}
},
"input_embedders_parameters": {
"FRONT_FACING_CAMERA": {
"activation_function": "relu",
"batchnorm": false,
"dense_layer": null,
"dropout_rate": 0.0,
"input_clipping": null,
"input_offset": {
"image": 0.0,
"tensor": 0.0,
"vector": 0.0
},
"input_rescaling": {
"image": 255.0,
"tensor": 1.0,
"vector": 1.0
},
"is_training": false,
"name": "embedder",
"scheme": {
"0": {
"kernel_size": 8,
"num_filters": 32,
"strides": 4,
"__class__": "Conv2d"
},
"1": {
"kernel_size": 4,
"num_filters": 64,
"strides": 2,
"__class__": "Conv2d"
},
"2": {
"kernel_size": 3,
"num_filters": 64,
"strides": 1,
"__class__": "Conv2d"
}
},
"__class__": "InputEmbedderParameters"
}
},
"l2_regularization": 0,
"learning_rate": 0.0003,
"learning_rate_decay_rate": 0,
"learning_rate_decay_steps": 0,
"middleware_parameters": {
"activation_function": "relu",
"batchnorm": false,
"dense_layer": null,
"dropout_rate": 0.0,
"is_training": false,
"name": "middleware_fc_embedder",
"num_streams": 1,
"parameterized_class_name": "FCMiddleware",
"scheme": {
"0": {
"units": 512,
"__class__": "Dense"
}
},
"__class__": "FCMiddlewareParameters"
},
"optimizer_epsilon": 1e-05,
"optimizer_type": "Adam",
"replace_mse_with_huber_loss": true,
"rms_prop_optimizer_decay": 0.9,
"scale_down_gradients_by_number_of_workers_for_sync_training": true,
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