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@@ -27,3 +27,370 @@ For more information about the certification process, check this section 👉 ht
**To start the hands-on click on Open In Colab button** 👇 :
[![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/huggingface/deep-rl-class/blob/master/notebooks/unit5/unit5.ipynb)
<a href="https://colab.research.google.com/github/huggingface/deep-rl-class/blob/ThomasSimonini%2FMLAgents/notebooks/unit5/unit5.ipynb" target="_parent"><img src="https://colab.research.google.com/assets/colab-badge.svg" alt="Open In Colab"/></a>
# Unit 5: An Introduction to ML-Agents
<img src="https://huggingface.co/datasets/huggingface-deep-rl-course/course-images/resolve/main/en/unit7/thumbnail.png" alt="Thumbnail"/>
In this notebook, you'll learn about ML-Agents and train two agents.
- The first one will learn to **shoot snowballs onto spawning targets**.
- The second need to press a button to spawn a pyramid, then navigate to the pyramid, knock it over, **and move to the gold brick at the top**. To do that, it will need to explore its environment, and we will use a technique called curiosity.
After that, you'll be able **to watch your agents playing directly on your browser**.
For more information about the certification process, check this section 👉 https://huggingface.co/deep-rl-course/en/unit0/introduction#certification-process
⬇️ Here is an example of what **you will achieve at the end of this unit.** ⬇️
<img src="https://huggingface.co/datasets/huggingface-deep-rl-course/course-images/resolve/main/en/unit7/pyramids.gif" alt="Pyramids"/>
<img src="https://huggingface.co/datasets/huggingface-deep-rl-course/course-images/resolve/main/en/unit7/snowballtarget.gif" alt="SnowballTarget"/>
### 🎮 Environments:
- [Pyramids](https://github.com/Unity-Technologies/ml-agents/blob/main/docs/Learning-Environment-Examples.md#pyramids)
- SnowballTarget
### 📚 RL-Library:
- [ML-Agents (HuggingFace Experimental Version)](https://github.com/huggingface/ml-agents)
⚠ We're going to use an experimental version of ML-Agents were you can push to hub and load from hub Unity ML-Agents Models **you need to install the same version**
We're constantly trying to improve our tutorials, so **if you find some issues in this notebook**, please [open an issue on the GitHub Repo](https://github.com/huggingface/deep-rl-class/issues).
## Objectives of this notebook 🏆
At the end of the notebook, you will:
- Understand how works **ML-Agents**, the environment library.
- Be able to **train agents in Unity Environments**.
## Prerequisites 🏗️
Before diving into the notebook, you need to:
🔲 📚 **Study [what is ML-Agents and how it works by reading Unit 5](https://huggingface.co/deep-rl-course/unit5/introduction)** 🤗
# Let's train our agents 🚀
The ML-Agents integration on the Hub is **still experimental**, some features will be added in the future.
But for now, **to validate this hands-on for the certification process, you just need to push your trained models to the Hub**. There’s no results to attain to validate this one. But if you want to get nice results you can try to attain:
- For `Pyramids` : Mean Reward = 1.75
- For `SnowballTarget` : Mean Reward = 15 or 30 targets hit in an episode.
## Set the GPU 💪
- To **accelerate the agent's training, we'll use a GPU**. To do that, go to `Runtime > Change Runtime type`
<img src="https://huggingface.co/datasets/huggingface-deep-rl-course/course-images/resolve/main/en/notebooks/gpu-step1.jpg" alt="GPU Step 1">
- `Hardware Accelerator > GPU`
<img src="https://huggingface.co/datasets/huggingface-deep-rl-course/course-images/resolve/main/en/notebooks/gpu-step2.jpg" alt="GPU Step 2">
## Clone the repository and install the dependencies 🔽
- We need to clone the repository, that **contains the experimental version of the library that allows you to push your trained agent to the Hub.**
```python
%%capture
# Clone the repository
!git clone --depth 1 https://github.com/huggingface/ml-agents/
```
```python
%%capture
# Go inside the repository and install the package
%cd ml-agents
!pip3 install -e ./ml-agents-envs
!pip3 install -e ./ml-agents
```
## SnowballTarget ⛄
If you need a refresher on how this environments work check this section 👉
https://huggingface.co/deep-rl-course/unit5/snowball-target
### Download and move the environment zip file in `./training-envs-executables/linux/`
- Our environment executable is in a zip file.
- We need to download it and place it to `./training-envs-executables/linux/`
- We use a linux executable because we use colab, and colab machines OS is Ubuntu (linux)
```python
# Here, we create training-envs-executables and linux
!mkdir ./training-envs-executables
!mkdir ./training-envs-executables/linux
```
Download the file SnowballTarget.zip from https://drive.google.com/file/d/1YHHLjyj6gaZ3Gemx1hQgqrPgSS2ZhmB5 using `wget`.
Check out the full solution to download large files from GDrive [here](https://bcrf.biochem.wisc.edu/2021/02/05/download-google-drive-files-using-wget/)
```python
!wget --load-cookies /tmp/cookies.txt "https://docs.google.com/uc?export=download&confirm=$(wget --quiet --save-cookies /tmp/cookies.txt --keep-session-cookies --no-check-certificate 'https://docs.google.com/uc?export=download&id=1YHHLjyj6gaZ3Gemx1hQgqrPgSS2ZhmB5' -O- | sed -rn 's/.*confirm=([0-9A-Za-z_]+).*/\1\n/p')&id=1YHHLjyj6gaZ3Gemx1hQgqrPgSS2ZhmB5" -O ./training-envs-executables/linux/SnowballTarget.zip && rm -rf /tmp/cookies.txt
```
We unzip the executable.zip file
```python
%%capture
!unzip -d ./training-envs-executables/linux/ ./training-envs-executables/linux/SnowballTarget.zip
```
Make sure your file is accessible
```python
!chmod -R 755 ./training-envs-executables/linux/SnowballTarget
```
### Define the SnowballTarget config file
- In ML-Agents, you define the **training hyperparameters into config.yaml files.**
There are multiple hyperparameters. To know them better, you should check for each explanation with [the documentation](https://github.com/Unity-Technologies/ml-agents/blob/release_20_docs/docs/Training-Configuration-File.md)
So you need to create a `SnowballTarget.yaml` config file in ./content/ml-agents/config/ppo/
We'll give you here a first version of this config (to copy and paste into your `SnowballTarget.yaml file`), **but you should modify it**.
```
behaviors:
SnowballTarget:
trainer_type: ppo
summary_freq: 10000
keep_checkpoints: 10
checkpoint_interval: 50000
max_steps: 200000
time_horizon: 64
threaded: true
hyperparameters:
learning_rate: 0.0003
learning_rate_schedule: linear
batch_size: 128
buffer_size: 2048
beta: 0.005
epsilon: 0.2
lambd: 0.95
num_epoch: 3
network_settings:
normalize: false
hidden_units: 256
num_layers: 2
vis_encode_type: simple
reward_signals:
extrinsic:
gamma: 0.99
strength: 1.0
```
<img src="https://huggingface.co/datasets/huggingface-deep-rl-course/course-images/resolve/main/en/unit7/snowballfight_config1.png" alt="Config SnowballTarget"/>
<img src="https://huggingface.co/datasets/huggingface-deep-rl-course/course-images/resolve/main/en/unit7/snowballfight_config2.png" alt="Config SnowballTarget"/>
As an experimentation, you should also try to modify some other hyperparameters. Unity provides very [good documentation explaining each of them here](https://github.com/Unity-Technologies/ml-agents/blob/main/docs/Training-Configuration-File.md).
Now that you've created the config file and understand what most hyperparameters do, we're ready to train our agent 🔥.
### Train the agent
To train our agent, we just need to **launch mlagents-learn and select the executable containing the environment.**
We define four parameters:
1. `mlagents-learn <config>`: the path where the hyperparameter config file is.
2. `--env`: where the environment executable is.
3. `--run_id`: the name you want to give to your training run id.
4. `--no-graphics`: to not launch the visualization during the training.
<img src="https://huggingface.co/datasets/huggingface-deep-rl-course/course-images/resolve/main/en/unit7/mlagentslearn.png" alt="MlAgents learn"/>
Train the model and use the `--resume` flag to continue training in case of interruption.
> It will fail first time if and when you use `--resume`, try running the block again to bypass the error.
The training will take 10 to 35min depending on your config, go take a ☕️you deserve it 🤗.
```python
!mlagents-learn ./config/ppo/SnowballTarget.yaml --env=./training-envs-executables/linux/SnowballTarget/SnowballTarget --run-id="SnowballTarget1" --no-graphics
```
### Push the agent to the 🤗 Hub
- Now that we trained our agent, we’re **ready to push it to the Hub to be able to visualize it playing on your browser🔥.**
To be able to share your model with the community there are three more steps to follow:
1️⃣ (If it's not already done) create an account to HF ➡ https://huggingface.co/join
2️⃣ Sign in and then, you need to store your authentication token from the Hugging Face website.
- Create a new token (https://huggingface.co/settings/tokens) **with write role**
<img src="https://huggingface.co/datasets/huggingface-deep-rl-course/course-images/resolve/main/en/notebooks/create-token.jpg" alt="Create HF Token">
- Copy the token
- Run the cell below and paste the token
```python
from huggingface_hub import notebook_login
notebook_login()
```
If you don't want to use a Google Colab or a Jupyter Notebook, you need to use this command instead: `huggingface-cli login`
Then, we simply need to run `mlagents-push-to-hf`.
And we define 4 parameters:
1. `--run-id`: the name of the training run id.
2. `--local-dir`: where the agent was saved, it’s results/<run_id name>, so in my case results/First Training.
3. `--repo-id`: the name of the Hugging Face repo you want to create or update. It’s always <your huggingface username>/<the repo name>
If the repo does not exist **it will be created automatically**
4. `--commit-message`: since HF repos are git repository you need to define a commit message.
<img src="https://huggingface.co/datasets/huggingface-deep-rl-course/course-images/resolve/main/en/unit7/mlagentspushtohub.png" alt="Push to Hub"/>
For instance:
`!mlagents-push-to-hf --run-id="SnowballTarget1" --local-dir="./results/SnowballTarget1" --repo-id="ThomasSimonini/ppo-SnowballTarget" --commit-message="First Push"`
```python
!mlagents-push-to-hf --run-id= # Add your run id --local-dir= # Your local dir --repo-id= # Your repo id --commit-message= # Your commit message
```
Else, if everything worked you should have this at the end of the process(but with a different url 😆) :
```
Your model is pushed to the hub. You can view your model here: https://huggingface.co/ThomasSimonini/ppo-SnowballTarget
```
It’s the link to your model, it contains a model card that explains how to use it, your Tensorboard and your config file. **What’s awesome is that it’s a git repository, that means you can have different commits, update your repository with a new push etc.**
But now comes the best: **being able to visualize your agent online 👀.**
### Watch your agent playing 👀
For this step it’s simple:
1. Remember your repo-id
2. Go here: https://singularite.itch.io/snowballtarget
3. Launch the game and put it in full screen by clicking on the bottom right button
<img src="https://huggingface.co/datasets/huggingface-deep-rl-course/course-images/resolve/main/en/unit7/snowballtarget_load.png" alt="Snowballtarget load"/>
1. In step 1, choose your model repository which is the model id (in my case ThomasSimonini/ppo-SnowballTarget).
2. In step 2, **choose what model you want to replay**:
- I have multiple one, since we saved a model every 500000 timesteps.
- But if I want the more recent I choose `SnowballTarget.onnx`
👉 What’s nice **is to try with different models step to see the improvement of the agent.**
And don't hesitate to share the best score your agent gets on discord in #rl-i-made-this channel 🔥
Let's now try a harder environment called Pyramids...
## Pyramids 🏆
### Download and move the environment zip file in `./training-envs-executables/linux/`
- Our environment executable is in a zip file.
- We need to download it and place it to `./training-envs-executables/linux/`
- We use a linux executable because we use colab, and colab machines OS is Ubuntu (linux)
Download the file Pyramids.zip from https://drive.google.com/uc?export=download&id=1UiFNdKlsH0NTu32xV-giYUEVKV4-vc7H using `wget`. Check out the full solution to download large files from GDrive [here](https://bcrf.biochem.wisc.edu/2021/02/05/download-google-drive-files-using-wget/)
```python
!wget --load-cookies /tmp/cookies.txt "https://docs.google.com/uc?export=download&confirm=$(wget --quiet --save-cookies /tmp/cookies.txt --keep-session-cookies --no-check-certificate 'https://docs.google.com/uc?export=download&id=1UiFNdKlsH0NTu32xV-giYUEVKV4-vc7H' -O- | sed -rn 's/.*confirm=([0-9A-Za-z_]+).*/\1\n/p')&id=1UiFNdKlsH0NTu32xV-giYUEVKV4-vc7H" -O ./training-envs-executables/linux/Pyramids.zip && rm -rf /tmp/cookies.txt
```
Unzip it
```python
%%capture
!unzip -d ./training-envs-executables/linux/ ./training-envs-executables/linux/Pyramids.zip
```
Make sure your file is accessible
```python
!chmod -R 755 ./training-envs-executables/linux/Pyramids/Pyramids
```
### Modify the PyramidsRND config file
- Contrary to the first environment which was a custom one, **Pyramids was made by the Unity team**.
- So the PyramidsRND config file already exists and is in ./content/ml-agents/config/ppo/PyramidsRND.yaml
- You might asked why "RND" in PyramidsRND. RND stands for *random network distillation* it's a way to generate curiosity rewards. If you want to know more on that we wrote an article explaning this technique: https://medium.com/data-from-the-trenches/curiosity-driven-learning-through-random-network-distillation-488ffd8e5938
For this training, we’ll modify one thing:
- The total training steps hyperparameter is too high since we can hit the benchmark (mean reward = 1.75) in only 1M training steps.
👉 To do that, we go to config/ppo/PyramidsRND.yaml,**and modify these to max_steps to 1000000.**
<img src="https://huggingface.co/datasets/huggingface-deep-rl-course/course-images/resolve/main/en/unit7/pyramids-config.png" alt="Pyramids config"/>
As an experimentation, you should also try to modify some other hyperparameters, Unity provides a very [good documentation explaining each of them here](https://github.com/Unity-Technologies/ml-agents/blob/main/docs/Training-Configuration-File.md).
We’re now ready to train our agent 🔥.
### Train the agent
The training will take 30 to 45min depending on your machine, go take a ☕️you deserve it 🤗.
```python
!mlagents-learn ./config/ppo/PyramidsRND.yaml --env=./training-envs-executables/linux/Pyramids/Pyramids --run-id="Pyramids Training" --no-graphics
```
### Push the agent to the 🤗 Hub
- Now that we trained our agent, we’re **ready to push it to the Hub to be able to visualize it playing on your browser🔥.**
```python
```
```python
!mlagents-push-to-hf --run-id= # Add your run id --local-dir= # Your local dir --repo-id= # Your repo id --commit-message= # Your commit message
```
### Watch your agent playing 👀
The temporary link for Pyramids demo is: https://singularite.itch.io/pyramids
### 🎁 Bonus: Why not train on another environment?
Now that you know how to train an agent using MLAgents, **why not try another environment?**
MLAgents provides 18 different and we’re building some custom ones. The best way to learn is to try things of your own, have fun.
![cover](https://miro.medium.com/max/1400/0*xERdThTRRM2k_U9f.png)
You have the full list of the one currently available on Hugging Face here 👉 https://github.com/huggingface/ml-agents#the-environments
For the demos to visualize your agent, the temporary link is: https://singularite.itch.io (temporary because we'll also put the demos on Hugging Face Space)
For now we have integrated:
- [Worm](https://singularite.itch.io/worm) demo where you teach a **worm to crawl**.
- [Walker](https://singularite.itch.io/walker) demo where you teach an agent **to walk towards a goal**.
If you want new demos to be added, please open an issue: https://github.com/huggingface/deep-rl-class 🤗
That’s all for today. Congrats on finishing this tutorial!
The best way to learn is to practice and try stuff. Why not try another environment? ML-Agents has 18 different environments, but you can also create your own? Check the documentation and have fun!
See you on Unit 6 🔥,
## Keep Learning, Stay awesome 🤗