Johnny Fernandes
104 lines
3.1 KiB
Makefile
104 lines
3.1 KiB
Makefile
# Training pipeline for the shepherd-dog herding project.
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# Stages chain via output files in training/.
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#
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# Usage:
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# make # full pipeline: bc_demos -> bc -> rl -> eval
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# make bc_demos # generate sim demos
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# make bc # behaviour clone (rebuilds bc_demos if missing)
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# make rl # KL-PPO fine-tune (rebuilds bc if missing)
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# make eval # 10-seed env eval of rl
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# make test # pytest suite
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# make webots N=10 MODE=rl # launch Webots in the chosen mode
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# make clean # delete bc_demos and run artefacts
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# make help # print the target table
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#
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# Override any hyperparameter on the command line, for example:
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# make rl PPO_STEPS=2000000 KL=0.02
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# make eval EVAL_SEEDS=20
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PY := python
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BC_DEMOS := training/bc/demos.npz
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BC_DIR := training/runs/bc
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RL_DIR := training/runs/rl
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BC_POLICY := $(BC_DIR)/policy.zip
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RL_POLICY := $(RL_DIR)/policy.zip
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# --- Demo collection ---
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TEACHER ?= strombom
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SEEDS_PER_N ?= 15
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SUBSAMPLE ?= 3
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FRAME_STACK ?= 4
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# --- Behaviour cloning ---
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BC_EPOCHS ?= 60
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BC_NET_ARCH ?= 512,512
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# --- KL-PPO fine-tune ---
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PPO_STEPS ?= 1000000
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KL ?= 0.05
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# --- Evaluation ---
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EVAL_SEEDS ?= 10
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EVAL_MAX_STEPS ?= 15000
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# --- Webots launcher ---
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N ?= 10
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MODE ?= rl
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.PHONY: all bc_demos bc rl eval test webots clean help
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all: eval
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bc_demos: $(BC_DEMOS)
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$(BC_DEMOS):
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$(PY) -m training.bc.collect \
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--teacher $(TEACHER) --out $(BC_DEMOS) \
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--seeds-per-n $(SEEDS_PER_N) --subsample $(SUBSAMPLE) \
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--frame-stack $(FRAME_STACK)
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bc: $(BC_POLICY)
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$(BC_POLICY): $(BC_DEMOS)
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$(PY) -m training.bc.pretrain \
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--demos $(BC_DEMOS) --out $(BC_DIR) \
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--epochs $(BC_EPOCHS) --net-arch $(BC_NET_ARCH)
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rl: $(RL_POLICY)
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$(RL_POLICY): $(BC_POLICY)
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$(PY) -m training.rl.train \
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--bc $(BC_DIR) --out $(RL_DIR) \
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--total-timesteps $(PPO_STEPS) --kl-coef $(KL)
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eval: $(RL_POLICY)
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$(PY) -m training.eval --policy $(RL_DIR) \
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--max-flock 10 --max-steps $(EVAL_MAX_STEPS) --n-seeds $(EVAL_SEEDS)
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test:
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$(PY) -m pytest tests/
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webots:
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tools/run_webots.sh $(N) $(MODE)
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clean:
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rm -rf $(BC_DEMOS) $(BC_DIR) $(RL_DIR)
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help:
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@echo "Targets:"
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@echo " make full pipeline (bc_demos -> bc -> rl -> eval)"
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@echo " make bc_demos sim demos via the '$(TEACHER)' teacher"
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@echo " make bc train BC (rebuilds bc_demos if missing)"
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@echo " make rl KL-PPO fine-tune (rebuilds bc if missing)"
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@echo " make eval $(EVAL_SEEDS)-seed env eval of rl"
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@echo " make test pytest suite"
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@echo " make webots [N=$(N)] [MODE=$(MODE)]"
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@echo " launch Webots in the chosen mode"
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@echo " make clean delete bc_demos and run artefacts"
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@echo ""
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@echo "Hyperparameter overrides (showing defaults):"
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@echo " TEACHER=$(TEACHER) SEEDS_PER_N=$(SEEDS_PER_N) SUBSAMPLE=$(SUBSAMPLE) FRAME_STACK=$(FRAME_STACK)"
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@echo " BC_EPOCHS=$(BC_EPOCHS) BC_NET_ARCH=$(BC_NET_ARCH)"
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@echo " PPO_STEPS=$(PPO_STEPS) KL=$(KL)"
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@echo " EVAL_SEEDS=$(EVAL_SEEDS) EVAL_MAX_STEPS=$(EVAL_MAX_STEPS)"
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