import gym
import numpy as np
from stable_baselines.common.policies import MlpPolicy
from stable_baselines.common.vec_env import SubprocVecEnv
from stable_baselines.common import set_global_seeds
from stable_baselines import ACKTR, PPO2
from gym_fixed_wing.fixed_wing import FixedWingAircraft
def make_env(env_id, rank, seed=0):
"""
Utility function for multiprocessed env.
:param env_id: (str) the environment ID
:param num_env: (int) the number of environments you wish to have in subprocesses
:param seed: (int) the inital seed for RNG
:param rank: (int) index of the subprocess
"""
def _init():
env = FixedWingAircraft("fixed_wing_config.json")
#env = gym.make(env_id)
env.seed(seed + rank)
return env
set_global_seeds(seed)
return _init
if __name__ == '__main__':
env_id = "fixed_wing"
#env_id = "CartPole-v1"
num_cpu = 4 # Number of processes to use
# Create the vectorized environment
env = SubprocVecEnv([lambda: FixedWingAircraft for i in range(num_cpu)])
#env = SubprocVecEnv([make_env(env_id, i) for i in range(num_cpu)])
model = PPO2(MlpPolicy, env, verbose=1)
model.learn(total_timesteps=25000)
obs = env.reset()
for _ in range(1000):
action, _states = model.predict(obs)
obs, rewards, dones, info = env.step(action)
env.render()
and the error I keep getting is the following:
Traceback (most recent call last):
File "/home/bonie/PycharmProjects/deepRL_fixedwing/fixed-wing-gym/gym_fixed_wing/ACKTR_fixedwing.py", line 38, in <module>
model = PPO2(MlpPolicy, env, verbose=1)
File "/home/bonie/PycharmProjects/deepRL_fixedwing/stable-baselines/stable_baselines/ppo2/ppo2.py", line 104, in __init__
self.setup_model()
File "/home/bonie/PycharmProjects/deepRL_fixedwing/stable-baselines/stable_baselines/ppo2/ppo2.py", line 134, in setup_model
n_batch_step, reuse=False, **self.policy_kwargs)
File "/home/bonie/PycharmProjects/deepRL_fixedwing/stable-baselines/stable_baselines/common/policies.py", line 660, in __init__
feature_extraction="mlp", **_kwargs)
File "/home/bonie/PycharmProjects/deepRL_fixedwing/stable-baselines/stable_baselines/common/policies.py", line 540, in __init__
scale=(feature_extraction == "cnn"))
File "/home/bonie/PycharmProjects/deepRL_fixedwing/stable-baselines/stable_baselines/common/policies.py", line 221, in __init__
scale=scale)
File "/home/bonie/PycharmProjects/deepRL_fixedwing/stable-baselines/stable_baselines/common/policies.py", line 117, in __init__
self._obs_ph, self._processed_obs = observation_input(ob_space, n_batch, scale=scale)
File "/home/bonie/PycharmProjects/deepRL_fixedwing/stable-baselines/stable_baselines/common/input.py", line 51, in observation_input
type(ob_space).__name__))
NotImplementedError: Error: the model does not support input space of type NoneType
I am not sure what to really input as the env_id and for the def make_env(env_id, rank, seed=0) function. I am also thinking that the VecEnv function for parallel processes is not properly setup.
I am coding with Python v3.6 using PyCharm IDE in Ubuntu 18.04.
It seems the newer versions of stable-baselines produces NaN values in the actions from the actor. Github files from the repo I have linked were updated and fixed the issue.
Hi,
I've been trying to use a custom openai gym environment for fixed wing uav from https://github.com/eivindeb/fixed-wing-gym by testing it with the openai stable-baselines algorithms but I have been running into issues for several days now. My baseline is the CartPole example Multiprocessing: Unleashing the Power of Vectorized Environments from https://stable-baselines.readthedocs.io/en/master/guide/examples.html#multiprocessing-unleashing-the-power-of-vectorized-environments since I would need to supply arguments and I am trying to use multiprocessing which I believe this example is all I need.
I have modified the baseline example as follows:
and the error I keep getting is the following:
I am not sure what to really input as the
env_id
and for thedef make_env(env_id, rank, seed=0)
function. I am also thinking that theVecEnv
function for parallel processes is not properly setup.I am coding with Python v3.6 using PyCharm IDE in Ubuntu 18.04.
Any suggestions would really help!
Thank you in advance.